first version

msg/Pose6D.msg

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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

msg/States.msg

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+Header header          # timestamp of the first lidar in a frame
+float64[] rot_end      # the estimated attitude (rotation matrix) at the end lidar point
+float64[] pos_end      # the estimated position at the end lidar point (world frame)
+float64[] vel_end      # the estimated velocity at the end lidar point (world frame)
+float64[] bias_gyr     # gyroscope bias
+float64[] bias_acc     # accelerator bias
+float64[] gravity      # the estimated gravity acceleration
+float64[] cov          # states covariance
+# Pose6D[] IMUpose        # 6D pose at each imu measurements