Comments (3)
joewong00
commented on August 17, 2024
I have fixed the issue, turned out I set the wrong TF for the lidar to IMU. For those of you who are having this issue, you can use the formula here to help you to get the correct extrinsics parameters. And now my map looks great!
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Zahra-Farajzadeh
commented on August 17, 2024
Hello, how did you calculate those matrix? what is theta?
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joewong00
commented on August 17, 2024
Hello, how did you calculate those matrix? what is theta?
Hi, theta is the angle transform from the lidar to IMU. If your IMU is placed 180 degree in the Z axis (yaw) from your lidar frame, then you can update the rotation matrix for R(z).
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