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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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Imu data source #90

Closed ghost closed 4 years ago

ghost commented 5 years ago

I would like to know whether I want to use a separate sensor as the IMU data source while applying LeGO-LOAM for Ouster LiDAR(OS-16). How can I set up the IMU source ? Shall I have to just simply change the imu topic in the utility.h file ?

extern const string imuTopic = "/imu/data";

Can anyone please tell me how to add external IMU source from a separate sensor in the LeGO-LOAM?

Thanks

TixiaoShan commented 4 years ago

You can change the imu topic to your sensor topic. You can find more discussions about imu on loam_velodyne.

laboshinl/loam_velodyne#82