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laboshinl / loam_velodyne

Laser Odometry and Mapping (Loam) is a realtime method for state estimation and mapping using a 3D lidar.
http://wiki.ros.org/loam_velodyne
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Transformation data for robot_localization #153

Open ROSnew opened 4 years ago

ROSnew commented 4 years ago

Hello. I want to run robot_localization with LOAM integrated_to_init odometry and IMU data. I have transformation info between LIDAR and IMU devices. Results of LOAM publish with _laserOdometry2.header.frame_id = "camera_init"; _laserOdometry2.child_frame_id = "camera"

So, should I add new transformation node between LIDAR and "camera" (or "camera init"). Which? Or i need replace "camera" (or "camera_init") to "lidar" duting publish in TransformMaintenance.cpp ? And also, should i add others new tranformations?

And how it should looks as result?

loam_velodyne_with_EKF_GIT.launch.txt ekf_LOAM.yaml.txt