ros2 branch problem

[newcloud123]

i use the ros branch to run lio_sam, at first the liosam is correcct, but at moment the positon jump big, and the console prompt: Large velocity, reset IMU-preintegration

[newcloud123]

ros2 branch

[arenran02]

i have a same problem ...

i found a same issue post about this problem.
#501
do you try this solution?

i'm very wondering about this problem that be caused by ros2 branch or extrinsic error

[yuhsiang1117]

@arenran02 @newcloud123 Do you fix the problem? I ran the program in isaacsim and got the same problem, please help me.

[arenran02]

To be honest, i give up my project of lio-sam. but, checking graph(all of factor) helps you fix this problem.