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RobustFieldAutonomyLab / LeGO-LOAM

LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain
BSD 3-Clause "New" or "Revised" License
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I want to get XYZ of pose estimation. How to do it? #132

Closed yy7410 closed 4 years ago

TixiaoShan commented 4 years ago

The pose information is in the odometry message. You can listen to integrated_to_init and get it.