Comments (3)
Hello Again
I checked in your code that you require orientation from the IMU. But to which frame is it relative to? Or do you require absolute orientation w.r.t. ENU or NED frame?
Best regards
Gaurav
from lidar_localization_ros2.
The 9-axis imu composite in this package is based on LeGO-LOAM, so please check LeGO-LOAM for the sensor layout.
https://github.com/rsasaki0109/pcl_localization_ros2/blob/master/include/pcl_localization/lidar_undistortion.hpp#L17-L18
The implementation of the 6-axis imu-only composite is a bit difficult. I am not going to work on it now.
If your robot has wheel odometry, you can use some package to publish dead reckoning by imu and wheel odometry as /odom and input it to this package.
from lidar_localization_ros2.
Thanks for your reply
from lidar_localization_ros2.
Related Issues (20)
- Unable to compile on Galactic HOT 7
- Pose with Covariance? HOT 2
- is adjustDistortion very important for localization? HOT 3
- IMU Calibration HOT 5
- The link to download the bag is not working HOT 3
- Handling angular velocities HOT 3
- Cannot build in humble of 22.04 HOT 4
- pose drift largely HOT 17
- i can't view map HOT 16
- Using odom HOT 3
- cannot see the map in rviz HOT 9
- The agent cannot turn left or right durning rosbag replay HOT 2
- specifying the lidar frame id HOT 1
- Localization worser then in your lidarslam_ros2 HOT 3
- Use odom tf instead of odom topic HOT 1
- about ros2 humble HOT 2
- Use diffirent sensor like Ouster or etc
- the direct positioning got stuck HOT 17
- imu preintegration
- CPU占用率爆炸 HOT 3
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from lidar_localization_ros2.