This project aims to calibrate the 4DOF extrinsic between a lidar and the encoder. The extrinsic is used in Lidar SLAM motion compensation. This setting is only for testing.
![](https://private-user-images.githubusercontent.com/33962726/255637208-fa2a05d3-eb61-40c6-84c5-aab035bf1273.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MTk0MzAwNzQsIm5iZiI6MTcxOTQyOTc3NCwicGF0aCI6Ii8zMzk2MjcyNi8yNTU2MzcyMDgtZmEyYTA1ZDMtZWI2MS00MGM2LTg0YzUtYWFiMDM1YmYxMjczLnBuZz9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNDA2MjYlMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjQwNjI2VDE5MjI1NFomWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPTFhNDllNjEyNWVhMjVjYjIyOWRlMWFhMGEyNTY3ZTA1MWY0N2IxZDFlNmVkYThiNTkyYmY0MWYyYjFkMDFkMTQmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0JmFjdG9yX2lkPTAma2V5X2lkPTAmcmVwb19pZD0wIn0.F4aPPLvC8WoC9qWtNAqSvcMBRT7i8wyeOF2aHd8R_j4)
![](https://private-user-images.githubusercontent.com/33962726/255642386-8fc431b9-6419-4f3c-bacf-cf4827d6c99d.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MTk0MzAwNzQsIm5iZiI6MTcxOTQyOTc3NCwicGF0aCI6Ii8zMzk2MjcyNi8yNTU2NDIzODYtOGZjNDMxYjktNjQxOS00ZjNjLWJhY2YtY2Y0ODI3ZDZjOTlkLnBuZz9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNDA2MjYlMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjQwNjI2VDE5MjI1NFomWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPThlZjIwNTA4M2UwMDNjYWQwOGMxNmQxZmY0OWE4OGJlMWYzMDNkZTgyNjIxMDUzZDNiMmJiNjQzNmU4NjA5YzEmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0JmFjdG9yX2lkPTAma2V5X2lkPTAmcmVwb19pZD0wIn0.rZAhYFtudr-dQakjE65dDBJOzRrVg8Cj8tVSXSDcMFc)
PCL
Ceres
ROS(noetic)
OS X & Linux: ubuntu 20.04
catkin_make
source devel/setup.sh
roslaunch rotationCalibration.launch