ScanRegistration keeps crashing.

[griz1112]

While driving the robot around if I yaw too quickly ScanRegistration crashes with exit code -11. Sometimes it happens while just driving straight ahead. Is there a way to turn off loop closure ?

[ziv-lin]

We will ease this case in the next update, which will be updated together with the support of "Livox mid-100".

[ziv-lin]

The latest version has fix some bugs in feature extraction, can you update your code and have a try?

[griz1112]

I will test in the next couple of days. One thing I found that caused the crashes was objects being too close to the laser. Say you get too close to a wall and do a turn of 90 deg or so. I think its because it has nothing to work with for a long enough time period that it crashes.