lidar_imu_calib

overview

when develop slam based on 3D lidar, we often use imu to provide priori for matching algorithm(icp, ndt), so the transform between lidar and imu need to be calibrated.For matching algorithm, attitude in transfom is more important than position in transform, and position often be set to 0. So this repo concentrate on calibrate attitude component in transform between lidar and imu.

prerequisite

• ROS
• ndt_omp

install ndt_omp to system catalog

git clone https://github.com/koide3/ndt_omp.git
cd ndt_omp
mkdir build
cd build
cmake ..
make
sudo make install

step

1. use rosbag tool record imu and lidar data

   rosbag record /imu /lidar_points
   

2. config launch file

   lidar_topic: 雷达数据话题名
   imu_topic: imu数据话题名
   bag_file: 记录的bag数据
   

3. start

   roslaunch lidar_imu_calib calib_exR_lidar2imu.launch
   

reference

https://blog.csdn.net/weixin_37835423/article/details/110672571