Question about the attitude of IMU relative to lidar

RobustFieldAutonomyLab / LeGO-LOAM

LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain

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Question about the attitude of IMU relative to lidar #140

Closed carleft closed 4 years ago

carleft commented 4 years ago

Hi Author!

I notice that

If you are using your lidar with an IMU, make sure your IMU is aligned properly with the lidar.

If Ｍy IMU is perpendicular to the Lidar, Can I adjust the attitude of IMU relative to lidar by publishing tf messages in the program? And How to do this ?

Thanks advance!

TixiaoShan commented 4 years ago

I think a transformed IMU should be enough, but I am not 100% sure. You can find more discussions on loam_velodyne.

https://github.com/laboshinl/loam_velodyne/issues/82