IMU usage for preventing breaking and shaking
Is there the possibility using IMU with Slam? I see few functions in slam.h (UpdateTrajectoryAndMapsWithIMU, SetImuWeight, SetImuResetThreshold, AddImuMeasurement, ImuHasData), but I don't know the algorithm.
During fast rotation Slam breaks.
Secondly, the lidar pose is shaking a little, although the lidar itself is standing still on the table. I use default configuration in slam_config_indoor.yaml
I hope the IMU will help me prevent those.