Hi, @ZacharyTaylor

May I ask if you could include a build instruction and how to run this with our own data? Having some issues with running it and unaware if I have build it correctly

Best Regards,
Nick

@ZacharyTaylor
Thanks for your great work.
I want to use this package but I have a little confused about imu_bias topic.

void OdomPredictor::imuBiasCallback(const sensor_msgs::ImuConstPtr& msg) {
  tf::vectorMsgToKindr(msg->linear_acceleration,
                       &imu_linear_acceleration_bias_);
  tf::vectorMsgToKindr(msg->angular_velocity, &imu_angular_velocity_bias_);

  have_bias_ = true;
}

If referring to the imuBiasCallback function, the angular velocity and acceleration of the imu seem to go into the value of bias as it is.

So is it correct that I understood?
May I know why the value of imu is included in the bias value without any bias estimation?

I'd appreciate it if you could give me an answer.

Thanks,

I am providing imu data from a real sensor(sparkfun razor m0), and fake odom data