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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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Change coordinate convention #200

Closed 010101101101 closed 3 years ago

010101101101 commented 4 years ago

Hi,

Thank you for the nice algorithm.

I am feeding to LeGO-LOAM the LiDAR and IMU data both expressed in base-link frame.

I would expect the odometry to be generated in the XY plane (with the X-forward convention, having the robot moving forward along the X axis) - however, the generated odometry is in the ZY plane (robot moving forward along the Z axis instead of the X axis).

What is the quick way of handling this to have the odometry generated in the XY plane?

Thank you greatly in advance

stale[bot] commented 3 years ago

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.

aprilliuwei commented 2 years ago

hello, do you solve this question?