trival typos

[narutojxl]

Hello author, Thanks for sharing your excellent work! I have some trival questions. Q1: After firstly process imu after this->imu_calibrated = true;, it seems this->prev_imu_stamp is equal to imu->header.stamp.toSec(), not the default zero value ? https://github.com/vectr-ucla/direct_lidar_inertial_odometry/blob/4217a4c083c2ec7e0b61d740cc777e290f7c546c/src/dlio/odom.cc#L952

Q2: ros odometry linear velocity is in some body frame, not in a world frame this->state.v.lin.b? https://github.com/vectr-ucla/direct_lidar_inertial_odometry/blob/4217a4c083c2ec7e0b61d740cc777e290f7c546c/src/dlio/odom.cc#L331

[dxdydz3dt]

Can you help me in regarding how to save the pose.txt file with time I want to use in my thesis. like: t x y z roll pitch yaw w (quaternion) Thanks

[kennyjchen]

@narutojxl --

• That's intended behavior for IMU propagation after calibration
• this->state.v.lin.b is the linear velocity in the body frame, and this->state.v.lin.w is the linear velocity in the world frame. DLIO publishes a nav_msgs::Odometry message with linear velocity w.r.t the world frame, and angular velocity w.r.t the body frame. You can change this as needed.

@dxdydz3dt -- You can add something similar to this DLO service if you want to save the trajectory as a tum format.