运行日志如下：root@datanode5:/home/catkin_ws# roslaunch lidar_imu_init velodyne.launch
... logging to /root/.ros/log/0d940a88-3e6a-11ef-95d4-001b21be2e90/roslaunch-datanode5-200345.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
/preprocess/scan_line: 16
[Initialization] Rotation around Lidar X Axis: 100% [||||||||||||||||||||||||||||||]
[Initialization] Rotation around Lidar Y Axis: 100% [||||||||||||||||||||||||||||||]
[Initialization] Rotation around Lidar Z Axis: 100% [||||||||||||||||||||||||||||||]
[Initialization] Data accumulation finished, Lidar IMU initialization begins.
Max Cross-correlation: IMU lag wtr Lidar : 2
Total time delay (IMU wtr Lidar): -0.059745 s
Using LIO: SUBTRACT this value from IMU timestamp
or ADD this value to LiDAR timestamp.
[Final Result] Rotation LiDAR to IMU = -1.333450 -1.267352 -1.239466 deg
[Final Result] Translation LiDAR to IMU = -0.087946 -0.068263 0.103764 m
[Final Result] Time Lag IMU to LiDAR = -0.05974507 s
[Final Result] Bias of Gyroscope = -0.000980 0.003935 -0.016914 rad/s
[Final Result] Bias of Accelerometer = 0.019776 0.041073 0.061058 m/s^2
[Final Result] Gravity in World Frame = -0.501791 -0.879088 -9.733479 m/s^2
Initialization and refinement result is written to
/home/catkin_ws/src/result/Initialization_result.txt
[play_bag-2] process has finished cleanly
log file: /root/.ros/log/0d940a88-3e6a-11ef-95d4-001b21be2e90/play_bag-2*.log
绘图时发现外参没有收敛，ACCXYZ都没有很好的同步，怎么调参数都没有办法复现论文中的效果，最好的效果是外参收敛到水平位置，但ACCXYZ没有同步，建图直接起飞。困扰我10多天了，请大佬给给出宝贵建议，我将不胜感激！
非常感谢大佬提供宝贵的算法供大家学习，我下载作者提供的室内数据VLP16_IMU.bag，并在无界面的服务器上运行作者的代码，发现没有办法复现作者在论文中的效果。我按照说明用Docker搭好环境，并修改launch文件如下，配置文件使用如下
运行日志如下：root@datanode5:/home/catkin_ws# roslaunch lidar_imu_init velodyne.launch ... logging to /root/.ros/log/0d940a88-3e6a-11ef-95d4-001b21be2e90/roslaunch-datanode5-200345.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://datanode5:45812/
SUMMARY
PARAMETERS
============================================================
Max Cross-correlation: IMU lag wtr Lidar : 2 Total time delay (IMU wtr Lidar): -0.059745 s Using LIO: SUBTRACT this value from IMU timestamp or ADD this value to LiDAR timestamp.
============================================================
[Init Result] Rotation LiDAR to IMU = 2.929301 -2.845168 0.112880 deg [Init Result] Translation LiDAR to IMU = -0.054228 -0.093682 0.046291 m [Init Result] Time Lag IMU to LiDAR = -0.05974507 s [Init Result] Bias of Gyroscope = -0.002104 0.010956 -0.009085 rad/s [Init Result] Bias of Accelerometer = 0.010437 0.010519 -0.008968 m/s^2 [Init Result] Gravity in World Frame = -0.600746 -0.988083 -9.741606 m/s^2
============================================================
[Initialization] Lidar IMU initialization done. [TIMER] Batch optimization time consuming 247.060219 ms
[Refinement] Switch to LIO mode, online refinement begins. [Refinement] Online Refinement 100% [||||||||||||||||||||||||||||||]
[Final Result] Rotation LiDAR to IMU = -1.333450 -1.267352 -1.239466 deg [Final Result] Translation LiDAR to IMU = -0.087946 -0.068263 0.103764 m [Final Result] Time Lag IMU to LiDAR = -0.05974507 s [Final Result] Bias of Gyroscope = -0.000980 0.003935 -0.016914 rad/s [Final Result] Bias of Accelerometer = 0.019776 0.041073 0.061058 m/s^2 [Final Result] Gravity in World Frame = -0.501791 -0.879088 -9.733479 m/s^2
Initialization and refinement result is written to /home/catkin_ws/src/result/Initialization_result.txt [play_bag-2] process has finished cleanly log file: /root/.ros/log/0d940a88-3e6a-11ef-95d4-001b21be2e90/play_bag-2*.log 绘图时发现外参没有收敛，ACCXYZ都没有很好的同步，怎么调参数都没有办法复现论文中的效果，最好的效果是外参收敛到水平位置，但ACCXYZ没有同步，建图直接起飞。困扰我10多天了，请大佬给给出宝贵建议，我将不胜感激！