A ros package used to correct motion distortion of a 2D LIDAR.
利用IMU数据对2D激光雷达数据进行运动畸变校正（仅限于旋转校正）。imu的更新频率高于100Hz时，效果更佳。
This ros package uses standard IMU message to correct motion distortion of a 2D LIDAR in real time(rotation only). It is better that the update frequency of IMU is higher than 100Hz.
订阅话题：sensor_msgs::LaserScan 以及 sensor_msgs::Imu
Subcribed topics: sensor_msgs::LaserScan and sensor_msgs::Imu
A rosbag for test 2d_undistortion_example_1.bag. The rosbag is recorded with RPLIDAR A1 and Xsens MTI-300. (百度云链接2d_undistortion_example_1.bag，提取码r00m）
- Start ros master.
roscore - Play the rosbag with sim time and X0.5 speed, and press spacebar to pause.
rosbag play 2d_undistortion_example_1.bag --clock -r 0.5 - Start lidar_undistortion node.
roslaunch lidar_undistortion lidar_undistortion_offline.launch - Press spacebar in the rosbag terminal to continue playing data.
- The results will be shown in rviz. Raw scan is displayed with red points and output is displayed with white points.
| 参数名 | 类型 | 解释 |
|---|---|---|
| lidar_topic | string | 订阅的激光数据话题名 |
| lidar_msg_delay_time | double | 雷达数据传输滞后的估计，单位毫秒，一般在10ms内 |
| scan_direction_clockwise | bool | 激光雷达扫描旋转方向，true为顺时针，false为逆时针；方向不对会增大畸变 |
| imu_topic | string | 订阅的imu话题名 |
| imu_frequency | double | 估计的imu发布频率，仅用来确定队列长度，不需要很精确 |
| output_frame_id | string | 输出消息的frame_id |
| pub_raw_scan_pointcloud | bool | 是否发布校正前的点云 |
| pub_laserscan | bool | 是否将校正后的数据重新封装为LaserScan消息发布 |
| laserscan_angle_increment | double | 接上条，发布的LaserScan消息的角度分辨率，分辨率越小，转换精度越高，单位为弧度（空白数据用nan填充） |
| use_range_filter | bool | 是否限定输出的扫描距离 |
| range_filter_min | double | 扫描距离的最小值 |
| range_filter_max | double | 扫描距离的最大值 |
| use_angle_filter | bool | 是否限定输出的角度范围，默认为$-\pi$到$+\pi$ |
| angle_filter_min | double | 扫描角度的最小值，单位为弧度 |
| angle_filter_max | double | 扫描角度的最大值，单位为弧度 |
| use_radius_outlier_filter | bool | 是否使用PCL库的RadiusOutlierRemoval滤波器，用来移除离群点 |
| radius_outlier_filter_search_radius | double | RadiusOutlierRemoval滤波器参数，搜索半径 |
| radius_outlier_filter_min_neighbors | double | RadiusOutlierRemoval滤波器参数，有效点的最少近邻点数量 |
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