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rsasaki0109 / li_slam_ros2

ROS 2 package of tightly-coupled lidar inertial ndt/gicp slam
BSD 2-Clause "Simplified" License
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Question regarding published deskewed point cloud 2 #24

Closed space192 closed 11 months ago

space192 commented 1 year ago

Hi, So I was wondering if there was any particular reason to the header frame id being set to base_link at the line 670 of image_projection.cpp, because I wanted to reuse this deskewed point cloud elsewhere in my code :thinking: ?

rsasaki0109 commented 1 year ago

There is no special deep reason for choosing base_link. I referenced LIO-SAM, and in the original code, the base_link and lidar link were the same, so I kept it that way. You can find more information about LIO-SAM at: https://github.com/TixiaoShan/LIO-SAM#lio-sam

rsasaki0109 commented 11 months ago

There has been no recent activity on this issue, so I am going to close it.