Incorrect exctrinsics Lidar -> Imu

[tiesus]

I used your repository to set up a slam configuration with a livox lidar an an external IMU. My setup has imu and lidar mounted with an pitch angle of 17 degree.

Could it be that the orientation of your transformation for the imu of the avia has incorrect signs?
According to your configuration, the extrinsics from lidar->imu are:

FAST_LIO_SLAM/FAST-LIO/config/avia.yaml

Lines 18 to 21 in 10eab53

	extrinsic_T: [ 0.04165, 0.02326, -0.0284 ]
	extrinsic_R: [ 1, 0, 0,
	0, 1, 0,
	0, 0, 1]

The official avia documentation says: