Using official rslidar sdk to capture point cloud for LIO-SAM

[TZECHIN6]

As rslidar sdk now can publish XYZIRT pointcloud directly, has anyone tried to use it with LIO-SAM directly?

Do we still need to use rs_to_velodyne to post processing the pointcloud before inputting to LIO-SAM node?

Great thanks!

[pvela2017]

Hello,
I'm new in this field, is there a difference between [robosense XYZIRT] and [velodyne XYZIRT] information?

[TZECHIN6]

I believe at least the naming of it is different, e.g. timestamp and ts. For the actual data representation, I am not so sure, thus I have asked this question in here.

[pvela2017]

I see, it happens I have a robosense lidar and velodyne lidar. I could test both but I need some guidance on what to look for

[pvela2017]

Hi,
I tried the optimized-sc-f-loam with the robosense lidar compiled using XYZIRT and got the following error:
[pcl::PCDWriter::writeBinary] Input point cloud has no data!
Then tried it with the rs_to_velodyne package and got the same error.

Now, Im testing the velodyne one.