imu frame

[liuyf5231]

Hi koide3,
which frame does imu use in hdl localization? front left up?

[koide3]

Hi @liuyf5231 ,
Yes, the IMU frame is the same as the LIDAR frame (XYZ=front-left-up).

[liuyf5231]

Hi @liuyf5231 ,
Yes, the IMU frame is the same as the LIDAR frame (XYZ=front-left-up).

but when i set use_imu true, localization will drift a lot,e.g 100m

[liuyf5231]

I got the reason, the time stamp in IMU data is wrong.
But when i use imu,the localization accuracy not impoved(max error,0.3m).