Bad result in Aeve AeriesII Lidar

[zhangzscn]

In the laboratory, we tested glim algorithm with Aeve AeriesII Lidar. In the first small part of data, glim performed well, but in the subsequent data, attitude estimation was not very accurate. Could you please help analyze the specific reasons? And is there a solution?

data：https://drive.google.com/file/d/1j65q7E8nM8g4Mfd6lIXmfC-C6A--E7Gb/view?usp=sharing

For Aeve AeriesII LiDAR, we have modified some configurations:
"T_lidar_imu": [
0,
0,
0,
0.0,
0.0,
0.0,
1.0
].

"imu_topic": "/aeva/aeva/imu",
"points_topic": "/aeva/aeva/point_cloud_compensated",

[koide3]

It seems there are many drops of IMU and LiDAR data frames. This is a common issue related to bag recording in ROS2. Please try using components to run the sensor driver and the bag recorder in a single node manager to improve the recording performance.

[2024-09-22 07:54:15.319] [odom] [warning] t_last=1568806761.555775 t_current=1568806761.655773 num_imu=1
[2024-09-22 07:54:15.325] [submap] [warning] insufficient IMU data between LiDAR frames!! (sub_mapping)
[2024-09-22 07:54:15.368] [odom] [warning] insufficient number of IMU data between LiDAR scans!! (odometry_estimation)
[2024-09-22 07:54:15.368] [odom] [warning] t_last=1568806761.855804 t_current=1568806761.955818 num_imu=1
[2024-09-22 07:54:15.387] [submap] [warning] insufficient IMU data between LiDAR frames!! (sub_mapping)
[2024-09-22 07:54:15.398] [submap] [warning] insufficient IMU data between LiDAR frames!! (sub_mapping)
[2024-09-22 07:54:15.418] [submap] [warning] insufficient IMU data between LiDAR frames!! (sub_mapping)                              
[2024-09-22 07:54:15.460] [odom] [warning] insufficient number of IMU data between LiDAR scans!! (odometry_estimation)
[2024-09-22 07:54:15.460] [odom] [warning] t_last=1568806762.455785 t_current=1568806762.555799 num_imu=1
[2024-09-22 07:54:15.463] [submap] [warning] insufficient IMU data between LiDAR frames!! (sub_mapping)
[2024-09-22 07:54:15.476] [odom] [warning] insufficient number of IMU data between LiDAR scans!! (odometry_estimation)
[2024-09-22 07:54:15.476] [odom] [warning] t_last=1568806762.555799 t_current=1568806762.655793 num_imu=1
[2024-09-22 07:54:15.484] [submap] [warning] insufficient IMU data between LiDAR frames!! (sub_mapping)
[2024-09-22 07:54:15.491] [glim] [warning] large time gap between consecutive IMU data!!
[2024-09-22 07:54:15.491] [glim] [warning] current=1568806762.941422 last=1568806762.831433 diff=0.109989             
[2024-09-22 07:54:15.495] [submap] [warning] insufficient IMU data between LiDAR frames!! (sub_mapping)  
[2024-09-22 07:54:15.515] [submap] [warning] insufficient IMU data between LiDAR frames!! (sub_mapping)
[2024-09-22 07:54:15.522] [odom] [warning] insufficient number of IMU data between LiDAR scans!! (odometry_estimation)                                      
[2024-09-22 07:54:15.522] [odom] [warning] t_last=1568806762.855791 t_current=1568806762.955785 num_imu=1
[2024-09-22 07:54:15.526] [submap] [warning] insufficient IMU data between LiDAR frames!! (sub_mapping)