Question about real-time localization

[carleft]

Hi !

I want to use lio-mapping for real-time location, but I find that location in rviz is always slower than real movement. I use Velodyne 16 and a imu with 400Hz frequency, How can I solve this problem?

Thanks for advance!

[hyye]

Hi @carleft, I think it is related to the newest timestamp in the local window is always earlier than the timestamp of the IMU input. In this release, the IMU is not predicted in a separated thread, which actually should be for real-time application.