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buaaxw@gmail.com
2020-11-01 00:17:32 +08:00
parent 3bc66ff15a
commit 9172e2d953
39 changed files with 6424 additions and 2 deletions
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msg/Pose6D.msg Normal file
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# the preintegrated Lidar states at the time of IMU measurements in a frame
float64 offset_time # the offset time of IMU measurement w.r.t the first lidar point
float64[3] acc # the preintegrated total acceleration (global frame) at the Lidar origin
float64[3] gyr # the unbiased angular velocity (body frame) at the Lidar origin
float64[3] vel # the preintegrated velocity (global frame) at the Lidar origin
float64[3] pos # the preintegrated position (global frame) at the Lidar origin
float64[9] rot # the preintegrated rotation (global frame) at the Lidar origin