Hello, I am quite new to ROS so forgive my newbuy simple language. I am using hector quadrotor with an IMU and a LIDAR (HDL-32E) in order to do the point cloud generation with the velodyne_cloud pkg giving to it both the lidar data and the imu data. The problem is that everything works fine except for the loam_velodyne pkg, in fact even if the drone stands still in the map in RVIZ is moving along the y direction by itself. I THINK this is due to the fact that the imu always measures +9.81 from the imu (due to the grav acceleration) and maps it in the loam_pkg as the y direction (because of the convenction of the pkg) and so this makes the drone go in the y direction.
Hello, I am quite new to ROS so forgive my newbuy simple language. I am using hector quadrotor with an IMU and a LIDAR (HDL-32E) in order to do the point cloud generation with the velodyne_cloud pkg giving to it both the lidar data and the imu data. The problem is that everything works fine except for the loam_velodyne pkg, in fact even if the drone stands still in the map in RVIZ is moving along the y direction by itself. I THINK this is due to the fact that the imu always measures +9.81 from the imu (due to the grav acceleration) and maps it in the loam_pkg as the y direction (because of the convenction of the pkg) and so this makes the drone go in the y direction.
How to fix it? I am really desperate...