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gaoxiang12 / faster-lio

Faster-LIO: Lightweight Tightly Coupled Lidar-inertial Odometry using Parallel Sparse Incremental Voxels
GNU General Public License v2.0
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Fixed frame id's in TF2 #63

Closed cosama closed 1 year ago

cosama commented 1 year ago

Currently the frame_id for the world and imu are hard coded to be "camera_init" and "world".

This will add the ability to (optionally) define them in either the config (yaml) file or in ROS over rosparam. The default is according to the previous values, so it won't require any additional fixes and should be backward compatible.

cosama commented 1 year ago

I just tested this and it works as expected as far as I can see.