关于实验部分的里程计帧率问题

[fractal1z]

Hello, after reading the experimental part of your article, I would like to ask a question about:
"The FAST-LIO2 [25] algorithm serves as the localization module, providing 100Hz high-quality state estimation and 50Hz point cloud. Finally, the angular velocity control of the quadrotor is achieved by Pixhawk autopilot."
How can this be done? I see that the odometer frame rate of FAST-LIO and POINT-LIO is the same as the radar frame rate. How can I increase the frame rate?

您好，在阅读了你们的文章实验部分后，我想请教一个问题，关于：
"The FAST-LIO2 [25] algorithm serves as the local ization module, providing 100Hz high-quality state estimation and 50Hz point cloud. Finally, the angular velocity control of the quadrotor is achieved by Pixhawk autopilot."
请问这是怎么做到的，我看FAST-LIO与POINT-LIO的里程计帧率都与雷达帧率一样，请问怎么提高帧率呢

[FENYUN323]

可以通过修改livox mid360激光雷达的ros driver提高lidar msg的反馈频率（msg_MID360.launch里面的publish_freq参数，默认是10hz），此外，还可以利用高频率的IMU msg，对fast_lio的EFK更新后的姿态做imu预测状态更新（本质上就是imu预积分），从而得到和imu同频率的里程计