Questions about the livox coordinate system

Livox-SDK / livox_ros_driver

Livox device driver under ros, support Lidar Mid-40, Mid-70, Tele-15, Horizon, Avia.

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Questions about the livox coordinate system #74

Open fjc378209410 opened 3 years ago

fjc378209410 commented 3 years ago

Hi， I added the ros-driver of livox-horizon to the cargographer. There is no problem in building graphics, but the coordinates of livox-horizon will keep changing. I guess the horizon is a six-line radar, so there are six coordinate systems that are not integrated. I would like to ask who has a similar problem and analyze it for me, I will be very grateful.

Livox-SDK commented 3 years ago

Our LiDAR point clouds are all calibrated, the coordinates are uniform, and there is no inconsistency in the coordinates. Currently we do no support for the cartographer algorithm. If there is a mapping requirement, please refer to livox_mapping: https://github.com/Livox-SDK/livox_mapping