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Added lidar_deskewing node and nodelet. Added "deskewing" option for icp_odometry. Updated velodyne and ouster examples with deskewing option. Added velodyne+T265 deskewing example.

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matlabbe
2022-10-16 21:36:11 -07:00
parent cf50e93195
commit 44bbaa2cef
15 changed files with 931 additions and 35 deletions
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launch/demo/demo_hector_mapping.launch
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@@ -69,6 +69,7 @@
<remap from="odom_info" to="/rtabmap/odom_info"/>
<param name="frame_id" type="string" value="base_footprint"/>
<param name="deskewing" type="string" value="true"/>
<param if="$(arg odom_guess)" name="odom_frame_id" type="string" value="icp_odom"/>
<param if="$(arg odom_guess)" name="guess_frame_id" type="string" value="odom"/>