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vectr-ucla / direct_lidar_inertial_odometry

[IEEE ICRA'23] A new lightweight LiDAR-inertial odometry algorithm with a novel coarse-to-fine approach in constructing continuous-time trajectories for precise motion correction.
MIT License
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Ros transforms #31

Closed EyedBread closed 9 months ago

EyedBread commented 9 months ago

Fix for the default lidar frame, apparently it is "os_sensor" and not "os_lidar", which is pretty vital since "os_lidar" seems to be rotated 180* in the z axis, which screws much stuff up as you can imagine. Also forgot 1 more ROS transform, between base_link and lidar frame

EyedBread commented 9 months ago

Sorry, this PR was supposed to be in our forked repo