A Numerically-Robust ROS 2 Port of iG-LIO: Diagnosing and Fixing Toolchain-Induced Failures in Incremental GICP LiDAR-Inertial Odometry

Afonso E. Carvalho, David Portugal, Paulo Peixoto

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.