Synchronizing lidar and Imu data using time stamps

1. Clone the repo to your workspace https://github.com/srikanthmalla/sync_data.git

2. go inside the package cd sync_data

3. Download the ros_bag file and save it as input_new.bag in the project folder, this current version synchronizes velodyne_points(PointCloud2) ~10 Hz and imu/data(Imu)~200Hz. Around 200/10 ~20 imu points lie between two frames of velodyne topic.

[you can switch to git reset --hard f983bccf308e9e575b2fd157f0a4fd3e370dff73, to work with laserscans from MIT STATA Center Dataset, can be downloaded withsh download_dataset.sh and read that README file. The rosbag gives tilt_scan(LaserScan)~20Hz and torso_lift_imu/data(Imu) ~100 Hz. Around 100 / 20 ~5 imu points lie between two laser scans.]

4. Compile the code using catkin_make

5. Run roslaunch sync_data synchronizer.launch

6. You can find the outputs in (ply files)pointcloud/, (txt files)imu/ (inside the sync_data/ project folder).