pointcloud_gravity_align

1 Introduction

This is a ROS tool package to align imu and lidar frame's z axis with the gravity based on imu data when robot is STATIC.

2 Prerequisites

2.1 Ubuntu and ROS

2.2 PCL & Eigen

• PCL >= 1.8
• Eigen >= 3.3.4

2.3 livox_ros_drvier

3 Build

cd $YOUR_CATKIN_WORESPACE$/src
git clone https://github.com/lxh3181515/pointcloud_gravity_align.git
cd ..
catkin_make

4 Set parameters

In launch file (launch/run.launch):

• lidar_type:
  • 0 - standard pointcloud type (sensor_msgs::pointcloud2)
  • 1 - livox pointcloud type (livox_ros_driver::CustomMsg)
• sub_lidar/imu_topic: raw lidar/imu topic name
• pub_lidar/imu_topic: lidar/imu topic name after aligning

5 Run

source devel/setup.bash
roslaunch pointcloud_gravity_align run.launch