Lidar <> GNSS/IMU calibration routine

[draturi]

We are trying to perform extrinsic calibration between a Velodyne lidar (16) and a GNSS/IMU. Is there an automated way to perform this calibration?
Is there a how-to that shows us how to perform this calibration?

[draturi]

Use the multi-lidar calibration guide found here: https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/multiple_lidar_gnss_calibration_guide.md

modify the config files appropriately and run the calibration.