lidar_imu_calib:自动校准3D激光雷达和IMU外在性

# 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](http://wiki.ros.org/kinetic/Installation/Ubuntu) - [ndt_omp](https://github.com/koide3/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: 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](https://blog.csdn.net/weixin_37835423/article/details/110672571)