发表机构
Robotics Institute (RI), Carnegie Mellon University (CMU); Institute of Systems and Robotics (ISR), University of Coimbra (UC)（卡内基梅隆大学机器人研究所; 科英布拉大学系统与机器人研究所）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
研究针对iG-LIO的ROS 2端口，诊断并修复由工具链导致的数值故障。通过分析QoS不匹配等问题，采取修正点场解析、添加传感器支持等方法，在多种传感器上验证了改进后的端口，为该端口提供了可引用参考。
AI 中文摘要
iG-LIO是一个紧密耦合的激光雷达惯性里程计系统，在增量体素地图上的迭代误差状态卡尔曼滤波器中融合广义ICP和点到平面约束。本文报告了原始ROS 1实现的开源ROS 2 Jazzy端口，更重要的是，诊断了端口后出现的环境引起的数值故障。故障原因追溯到现代ROS 2工具链，而非算法。具体为服务质量（QoS）不匹配和未初始化的并行归约累加器。此外还进行了多项修正和支持添加，如修正Ouster点场解析、添加Velodyne Velarray M1600支持等。结果已在多种传感器上验证。
英文摘要
iG-LIO is a tightly-coupled LiDAR-inertial odometry system fusing generalized-ICP and point-to-plane constraints in an iterated error-state Kalman filter over an incremental voxel map. We report an open-source ROS 2 Jazzy port of the original ROS 1 implementation and, more importantly, the diagnosis of environment-induced numerical failures that appear only after the port: a mechanically faithful migration -- estimation mathematics left unchanged -- compiled and ran, yet diverged with NaN internal values. Both causes trace to the modern ROS 2 toolchain, not the algorithm: a Quality-of-Service (QoS) mismatch that silently drops and reorders IMU samples, and an uninitialized parallel-reduce accumulator arising from the oneTBB + Eigen combination shipped with current distributions. We further correct Ouster point-field parsing to ensure correct point cloud undistortion with newer Ouster revisions, add Velodyne Velarray M1600 support, provide both a compile-time-gated Livox CustomMsg path and a driver-free path for Livox sensors publishing standard PointCloud2 (e.g. Mid-360), and expose the runtime via YAML. The result has been validated in an Ouster OS0 Rev7, an Ouster OS1 Rev 7, and a Livox MID-360. This report is a citable reference for the port itself, not a claim on the underlying algorithm [1]. The ROS 2 port of iG-LIO described in this document can be found at https://github.com/Forestry-Robotics-UC/ig_lio/tree/ros2-jazzy.
Comments3 pages, 1 figure, 4 references
