How to make /imu/data_sync data?

APRIL-ZJU / lidar_IMU_calib

[IROS 2020] Targetless Calibration of LiDAR-IMU System Based on Continuous-time Batch Estimation

GNU General Public License v3.0

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Closed Taeyoung96 closed 1 year ago

Taeyoung96 commented 1 year ago

@icameling
Thanks for your great work!
I have some questions about this tool with the Custom ROS bag file.

I have only topics named /velodyne_points and imu/data.
Is this algorithm works with these topics without imu/data_sync?

If not, How to make imu/data_sync topic?
I'd appreciate your help.

Thanks,

yinhaosen commented 1 year ago

I think you need to synchronize lidar and imu data. There are some ways of doing it such as from hardware level or simple synchronization algorithms.

Taeyoung96 commented 1 year ago

@yinhaosen
Thanks for your reply.
Is there any recommended simple synchronization algorithm?

yinhaosen commented 1 year ago

ROS has native support interface google message_filters::sync.