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thlsealight avatar thlsealight commented on August 15, 2024 1

不同数据集的配置文件不相同，请你使用对应的配置文件。另外，FF-LINS需要前右下的IMU，因此请使用我们提供的ROS包。

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ZoranDai avatar ZoranDai commented on August 15, 2024

好的谢谢 我尝试修改一下IMU的信息

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ZoranDai avatar ZoranDai commented on August 15, 2024

问题已经解决，只需将r3live中使用的avia lidar 中imu坐标系 front-left-up 转换为 front-right-down形式即可，具体改动为修改ROS文件夹中的fusion.cc文件中的imuCallback函数，即可适配r3live数据集
20240618-201435

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