Empty RVIZ

[pk30123]

Hi team,
i tried MA-LIO in my databut the RVIZ is empty. The idea is similair to urbannav with a ouster and a velo. What parameter do i check?

TIA,

[minwoo0611]

Hello, @pk30123

Thank you for using MA-LIO.
I’m not entirely sure what the issue is based on just the RViz view.
Could you please check the terminal output for more details?

Thank you

[pk30123]

with my dataset

auto-starting new master
process[master]: started with pid [97]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to beaf3f7e-7be9-11ef-8c0f-5c879c224638
process[rosout-1]: started with pid [107]
started core service [/rosout]
process[laserMapping-2]: started with pid [110]
process[rviz-3]: started with pid [115]
Multi thread started

in urbannav i get the output 

**** Multiple Asynchronous LiDAR Inertial Odometry (MA-LIO) ****

[Timestamp of Current State]: 0 secs
[Position]: 
	[x]: -0.40022 meter
	[y]: 14.761 meter
	[z]: -0.25905 meter
[Orientation]: 
	[qx]: -0.0022392
	[qy]: -0.0031923
	[qz]: 0.023296
	[qw]: 0.99972
[Velocity]: 
	[x]: -0.029662 m/s
	[y]: 5.4306 m/s
	[z]: -0.093548 m/s
[LiDAR-IMU Extrinsic 0]: 
	Timestamp for the Lastest Point: 1621322436.2058365345 secs
	Translation: 
		[x]: 0.30135 meter
		[y]: -0.014685 meter
		[z]: 0.088213 meter
	Rotation: 
		[qx]: 0.0011741
		[qy]: 0.46298
		[qz]: -0.018718
		[qw]: 0.88617
[LiDAR-IMU Extrinsic 1]: 
	Timestamp for the Lastest Point: 1621322436.1959002018 secs
	Translation: 
		[x]: 0.01787 meter
		[y]: 0.0090866 meter
		[z]: 0.27047 meter
	Rotation: 
		[qx]: 0.0018756
		[qy]: -0.0021802
		[qz]: -0.00050429
		[qw]: 1
[Temporal discrepancy between LiDAR 0 and 1]: 9.9363 msecs
[Total Distance]: 15.562 meter
[Duration]: 7.7168 secs
[Map Point Count (Downsample w/ 0.5)]: 14264
[Computation Time]: 49.47 msecs
[Computation Time (Avg)]: 42.533 msecs
[RAM Allocation]: 241.54 MB
[VSZ]: 848.78 MB

[pk30123]

Hi, is there any parameter to change icp characteristics so even less common points is needed ? Also how to select the point filter num parameter ,is there a rule of thumb or any?

TIA