difference between imu_correct and imu_raw

TixiaoShan / LIO-SAM

LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping

BSD 3-Clause "New" or "Revised" License

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difference between imu_correct and imu_raw #421

Open zillur-av opened 1 year ago

zillur-av commented 1 year ago

What are the differences between those two IMU messages? I have the imu_raw from my imu, but how to get the corrected one? I have only one imu. Also, what do you mean by external imu? I guess it's the one not integrated with the lidar. In that case, I just have the external one. I have the tf among base link, lidar link and imu link. In the params.yaml file, the extrinsic matrices are of which imu? Internal or external.

Zahra-Farajzadeh commented 1 month ago

Hi @zillur-av I have same question. Did you find out?

MaXinzhao commented 4 days ago

Personally, I think it should be to simulate GPS data with IMU data.