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zijiechenrobotics / ig_lio

iG-LIO: An Incremental GICP-based Tightly-coupled LiDAR-inertial Odometry
GNU General Public License v2.0
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Made it work in ros2 humbe #25

Open Wataru-Oshima-Tokyo opened 3 months ago

Wataru-Oshima-Tokyo commented 3 months ago

Hello CHENXXX Thank you for releasing this repository! I have makde ig lio work in ros2 humble and added some logics such as below.

  1. added tf for robot frame to imu frame and robot rame to lidar frame.
  2. added a function to aovid getting an orthogonal error caused by a very small error which could happen some dataset.
  3. move to InRadius() function into pointcloud_preprocess to make it more efficient where it does not have to run though all the points again before undistoring and downsampling.
  4. added a new node to subscribe a keyframe and add a service to save the map.
  5. some other changes such as given parameters or frames...

It would be highly apprecisated if you could add a new branch in case people want to use your highly-accurate lio in ros2!

Thank you! Wataru Oshima