Hello, I used your program to run med-1 and my data with 16_scans_test.launch. But the constructed map is very slanted. Do you know why this is? Any suggestions for modification?
I guess is that your LiDAR starting pose is tilted. And since you do now provide the IMU to estimated the gravity direction, this tilted map cannot be fixed.
Hello, I used your program to run med-1 and my data with 16_scans_test.launch. But the constructed map is very slanted. Do you know why this is? Any suggestions for modification?
![2020-07-17-01](https://user-images.githubusercontent.com/49379943/87785989-bf9cc680-c86b-11ea-84d1-e3c3f1de4175.png)