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

compile

  
cd catkin_ws/src
git clone https://github.com/Rotoslider/lidar_imu_calib.git
cd ..
catkin_make -DCATKIN_WHITELIST_PACKAGES="ndt_omp;lidar_imu_calib"

run step

1. use rosbag tool record imu and lidar data

   rosbag record /imu /lidar_points
   

2. config launch file

   lidar_topic: lidar data topic name
   imu_topic: imu data topic name
   bag_file: *.bag file record imu and lidar data topic
   

3. start

   roslaunch lidar_imu_calib calib_exR_lidar2imu.launch
   

reference

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

troubleshooting

If you have issues with LZ4 streamDecode try running the lines below to fix the issue:

sudo mv /usr/include/flann/ext/lz4.h /usr/include/flann/ext/lz4.h.bak
sudo mv /usr/include/flann/ext/lz4hc.h /usr/include/flann/ext/lz4.h.bak

sudo ln -s /usr/include/lz4.h /usr/include/flann/ext/lz4.h
sudo ln -s /usr/include/lz4hc.h /usr/include/flann/ext/lz4hc.h