Hi buddy, I followed your instructions to run the KITTI 07 dataset. The mapping fails to close properly once loop closure is triggered. Could you tell me what might be the cause?

[dong-hao-dip]

[engcang]

@dong-hao-dip Hey. Can you upload the full video of the operation on the sequence?

[dong-hao-dip]

Hello, sir.Can I email it to you? At 2026-05-06 11:02:11, "Eungchang-Mason-Lee" ***@***.***> wrote: engcang left a comment (engcang/FAST-LIO-SAM-QN#17) @dong-hao-dip Hey. Can you upload the full video of the operation on the sequence? — Reply to this email directly, view it on GitHub, or unsubscribe. Triage notifications on the go with GitHub Mobile for iOS or Android. You are receiving this because you were mentioned.Message ID: ***@***.***>

[dong-hao-dip]

Sorry, I didn't pay attention to the email. I thought you wouldn't reply to me.My operation process is: first, open a ROS terminal in Linux; then, in a new terminal, execute the command `roslaunch fast_lio_sam_qn run.launch lidar:=kitti`; then, in another new terminal, run `cd ~/kitti`, `rosparam set use_sim_time true`, and `rosbag play -r 0.5 --clock kitti_2011_09_30_drive_0027_synced.bag`. Finally, the trajectory does not close. Could you please help me figure out why? At 2026-05-06 11:02:11, "Eungchang-Mason-Lee" ***@***.***> wrote: engcang left a comment (engcang/FAST-LIO-SAM-QN#17) @dong-hao-dip Hey. Can you upload the full video of the operation on the sequence? — Reply to this email directly, view it on GitHub, or unsubscribe. Triage notifications on the go with GitHub Mobile for iOS or Android. You are receiving this because you were mentioned.Message ID: ***@***.***> 从网易163邮箱发来的超大附件推荐客户端极速下载 video.mp4 (85.16M, 2026年6月5日 11:33 到期) 下载

[engcang]

@dong-hao-dip Yeah. I want to help you figure out why and solve the issue properly, if exists. So,as I commented earlier, can you upload the video of the operation? Also, can you share the yaml file you used?

[dong-hao-dip]

Hello, sir. I sent the operation video by email last time. Here is the content of the YAML file. common: lid_topic: "/kitti/velo/pointcloud" imu_topic: "/kitti/oxts/imu" time_sync_en: false # ONLY turn on when external time synchronization is really not possible time_offset_lidar_to_imu: 0.0 # Time offset between lidar and IMU calibrated by other algorithms, e.g. LI-Init (can be found in README). # This param will take effect no matter what time_sync_en is. So if the time offset is not known exactly, please set as 0.0 preprocess: lidar_type: 2 # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR, scan_line: 64 scan_rate: 10 # only need to be set for velodyne, unit: Hz, timestamp_unit: 2 # the unit of time/t field in the PointCloud2 rostopic: 0-second, 1-milisecond, 2-microsecond, 3-nanosecond. blind: 2 mapping: acc_cov: 0.01 gyr_cov: 0.01 b_acc_cov: 0.0001 b_gyr_cov: 0.0001 fov_degree: 180 det_range: 100.0 extrinsic_est_en: false # true: enable the online estimation of IMU-LiDAR extrinsic, extrinsic_T: [-0.8086759, 0.3195559, -0.7997231] extrinsic_R: [ 9.999976e-01, 7.553071e-04, -2.035826e-03, -7.854027e-04, 9.998898e-01, -1.482298e-02, 2.024406e-03, 1.482454e-02, 9.998881e-01 ] publish: path_en: false scan_publish_en: true # false: close all the point cloud output dense_publish_en: true # false: low down the points number in a global-frame point clouds scan. scan_bodyframe_pub_en: false # true: output the point cloud scans in IMU-body-frame pcd_save: pcd_save_en: false interval: -1 # how many LiDAR frames saved in each pcd file; # -1 : all frames will be saved in ONE pcd file, may lead to memory crash when having too much frames.At 2026-05-22 01:47:31, "Eungchang-Mason-Lee" ***@***.***> wrote: engcang left a comment (engcang/FAST-LIO-SAM-QN#17) @dong-hao-dip Yeah. I want to help you figure out why and solve the issue properly, if exists. So,as I commented earlier, can you upload the video of the operation? Also, can you share the yaml file you used? — Reply to this email directly, view it on GitHub, or unsubscribe. Triage notifications on the go with GitHub Mobile for iOS or Android. You are receiving this because you were mentioned.Message ID: ***@***.***>