mid360 configs - Githubissues

koide3 / glim

GLIM: versatile and extensible range-based 3D localization and mapping framework

MIT License

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mid360 configs #43

Closed ubicray closed 2 months ago

ubicray commented 2 months ago

Hi! First of all, great project!

I'm interested in testing it out with a livox mid460 and an Orin NX I see that you have used mid360 for some outdoor settings... What were the configuration values you used?

koide3 commented 2 months ago

I used almost the same parameter set as the default one. The required changes are as follows:

config_ros.json
- Set glim_ros/acc_scale to 9.80665
- Change (imu|points)_topic
config_sensors.json
- Change sensors/T_lidar_imu

koide3 commented 2 months ago

I created a wiki page for sensor setup https://github.com/koide3/glim/wiki/Sensor-setup-guide .

Gabryss commented 2 months ago

Hi ! Could you explain me how did you figure out the Transform between the lidar and the imu on the mid360 ? I am looking for it and haven't been able to find it in the doc. Thank you very much.