I need help with adjusting yaml file parameters.

[lidarmansiwon]

Hi, I am using fast_lio with ouster in humble. I am using ouster pointcloud and built-in imu, but it is showing poor mapping results. What exactly do these parameters mean, how to use them, and are there any recommended parameters for outdoor use? How should I adjust them?

/**:
ros__parameters:
feature_extract_enable: false
point_filter_num: 3
max_iteration: 3
filter_size_surf: 0.5
filter_size_map: 0.5
cube_side_length: 1000.0
runtime_pos_log_enable: false
map_file_path: "./test.pcd"

 And additionally, even if we use the internal imu of ouster, do we need to calibrate the two through an external algorithm?
 Please help me,,

[stale]

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.

[juliangaal]

you're performance issues are likely due to changes in the ouster ros2 tf tree. os_imu now points in the opposite direction of os_lidar, therefore, you need to update the IMU->Lidar transformation parameters according to the output of

ros2 run tf2_ros tf2_echo os_imu os_lidar

I already did exactly this, and more, in #365