System updates will be applied on Jan 23rd between 7am and 9am, EST (UTC-05:00). This site will have intermittent downtime during that time.
Enable the reception of IMU messages so that the gravity constraint can be used in ros wrapping.
ImuCallback
is added to LidarSlamNode in ros wrapping. It adds imu accelerations into GravityManager.roslaunch lidar_slam slam_ouster.launch
rosbag play --clock path/to/ouster_bag_with_imu.bag
Note: when play the rosbag, check the topic name of points and imu. If they are different from /ouster/points
and /imu
, change the topic name by using the following command:
rosbag play --clock path/to/ouster_bag_with_imu.bag /os_cloud_node/points:=/ouster/points /os_cloud_node/imu:=/imu
gravity
. The direction of this vector is perpendicular to the floor.