Hello. I have be experimenting with using GLIM on a Unitree Go2 with the Livox Mid360 LiDAR. I am having some issues with configuring the Odom and map to be at the correct angle. Unitree provides this transform for the Mid360.
In my config I have the following settings
// TF config
"imu_frame_id": "livox_frame", // Auto-detect if blank
"lidar_frame_id": "livox_frame", // Auto-detect if blank
"base_frame_id": "", // If blank, IMU frame ID is used
"odom_frame_id": "odom",
"map_frame_id": "map",
"publish_imu2lidar": false, // The IMU and LiDAR have the same frame
"tf_time_offset": 1e-6,
// Transform
"T_lidar_imu": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1]I tried mapping out some long hallways and the odom/map seems consistently titled at the 13-degree angle of the mounting bracket. How should I go about correcting the yaw? I thought that maybe I should set the base_frame_id to base_link and then publish a transform like the one provided in the Unitree docs.
Hello. I have be experimenting with using GLIM on a Unitree Go2 with the Livox Mid360 LiDAR. I am having some issues with configuring the Odom and map to be at the correct angle. Unitree provides this transform for the Mid360.
In my config I have the following settings
I tried mapping out some long hallways and the odom/map seems consistently titled at the 13-degree angle of the mounting bracket. How should I go about correcting the yaw? I thought that maybe I should set the base_frame_id to
base_linkand then publish a transform like the one provided in the Unitree docs.