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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/tests/test_ouster.launch
+6 -5
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@@ -12,14 +12,15 @@
coming from the first cloud sent by os1_cloud_node, which may be poorly synchronized with IMU data.
-->
<!-- Required: -->
<arg name="os1_hostname"/>
<arg name="os1_udp_dest"/>
<arg name="use_sim_time" default="false"/>
<arg name="frame_id" default="os1_sensor"/>
<!-- Required: -->
<arg unless="$(arg use_sim_time)" name="os1_hostname"/>
<arg unless="$(arg use_sim_time)" name="os1_udp_dest"/>
<arg name="frame_id" default="os1_sensor"/>
<arg name="rtabmapviz" default="true"/>
<arg name="scan_20_hz" default="true"/>
<arg name="use_sim_time" default="false"/>
<param if="$(arg use_sim_time)" name="use_sim_time" value="true"/>
<!-- Ouster -->