Dose this project include distortion correction function?

[JACKLiuDay]

Hi, thank you for your great work about icp_localization. I want to use it for my robot and my lidar is velodyne-16. When my robot run fast, such as 1m/s, the lidar pointcloud will be affected. So I want to know whether icp_localization have pointcloud distortion correction function. Or, I need to write it by myself.

[jelavice]

Hi @JACKLiuDay , no, the pointcloud undistortion is not implemented. However, if your speed is only 1 m/s, you can probably get away without it undistortion.

[JACKLiuDay]

Hi @JACKLiuDay , no, the pointcloud undistortion is not implemented. However, if your speed is only 1 m/s, you can probably get away without it undistortion.

Hi，thank you for your reply. I will test it with my robot. By the way, I see this project belongs to leggedrobotics, have you ever tested icp_localization with legged robot? Such as four-legged robot. The vibration of the quadruped robot during movement must have a great influence on the ICP registration. Thanks.