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tomas789 / kitti2bag

Convert KITTI dataset to ROS bag file the easy way!
MIT License
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Problem with OXTS and transforms #24

Open celynw opened 5 years ago

celynw commented 5 years ago

It seems the OXTS poses are being specified as the base_link rather than their dedicated frame imu_link. https://github.com/tomas789/kitti2bag/blob/06100b01b32afcf1c72770b861fe846712b5a00a/bin/kitti2bag#L56

The KITTI page shows that the GPS and IMU are in the same location.

I believe this may be the problem behind

Please let me know if this is correct!

celynw commented 5 years ago

The pull request gives me the behaviour I expect. I would like it if somebody could verify this is actually correct. Also, I'd understand if it is denied in favour of a more principled fix.

J-Rojas commented 4 years ago

I believe the TFs that are generated are not correct because the GPS/IMU calibration transform is not applied at all. This static transform would be applied between imu_link and velodyne sensor (which is equivalent to base_link).