IMU livox_mapping

[Francesco Perasso]

hi everyone for a few months I have been using mid40 to experiment using the livox_mapping package, but since this lidar does not have the imu I would like to switch to the horizon or avia to get some undistorted clouds because with lidar mid40 if I move dynamically I get parts of cloud rotated because the system is unable to alienate the common parts, I would also have thought of interfacing the package with an external imu sensor, but the code changes and the construction of a driver are complicated since I am not an expert programmer someone has ventured to to create an external IMU driver for the mid40?
A friend of mine told me that using the livox_mapping package with horizon he cannot use the imu and in fact he does not see the imu node running and has the same problems as with MID40. So I wonder and I ask you: but this blessed Bosch imu contained within horizon and avia is exploited by the livox_mapping packages?, In the configurations the IMU Rate setting set to 1, activates the imu del horizon or not? There are other packages available such as loam_horizon which take advantage of the IMU by returning an undistorted cloud, but they are old and outdated packages, while livox_mapping seems to be the most recent and up to date. Does anyone get precise clouds with horizon or aviva are there any settings in the launches or in the config to be set to enable imu in the livox_mapping package or did I miss something? Thank you all .

[wang chirist]

Hello, it’s really amazing. My experience and ideas are exactly the same as yours; I want to provide some clues: For external IMU, the HKU-MARS team at the University of Hong Kong replied to me that there are two issues to pay attention to: 1 is the external IMU and LIVOX's time calibration problem 2 is the spatial calibration of external IMU and LIVOX; of course, I think this direction has been abandoned with the advent of avia (avia comes with IMU); in addition, the University of Hong Kong has used avia to make handheld instruments for fusion IMU The effect of the visual and visual experiments is very good (dancing while measuring the map^_^); it seems that the two scripts called FIO and R2live are on github; if you have solved the problem of external IMU, can you tell me your method ,thank

[wang chirist]

my email 4577...@qq.com；If you have anything to share you can mail me