About Motion Distortion Correction Data feed

[ArghyaChatterjee]

Hello, I was testing this package on my own rosbag files. I wanted to know 3 things:

• Are we expected to feed Motion Distortion Corrected (MDC)/ Deskewed data of VLP-16 directly to the package or this package does deskewing internally and we will be feeding the deskewed velodyne packets topic generated from the lidar which will in turn produce velodyne points topic and feed that topic to the package?
• Are we doing any initial calibration here? like giving any rotation and translation value initially from the robot frame to world frame ? (e.g. fiducial calibration like files)
• Does this package have imu integration support ? Or it's just the velodyne points that we will be feeding ?

It will help a lot if you response. Thanks in advance.

[wh200720041]

Hi @ArghyaChatterjee

Thanks for posting questions here.

1. The motion distortion correction is still in progress and it will be updated in the future. However, if your robot is moving at low speed, the distortion correction only has very limited effect.
2. If you want to preset a initial location, a quick way is to publish a static transform between world and map in launch file. However, to make the project easy to read, currently we are not planning to add extra calibration files or configuration files.
3. The IMU integration is not supported currently, but you may want to keep an eye on this project. This project is still in progress :)

Thanks