Problem with OXTS and transforms
celynw opened this issue · comments
It seems the OXTS poses are being specified as the base_link rather than their dedicated frame imu_link
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Line 56 in 06100b0
The KITTI page shows that the GPS and IMU are in the same location.
I believe this may be the problem behind
Please let me know if this is correct!
The pull request gives me the behaviour I expect.
I would like it if somebody could verify this is actually correct.
Also, I'd understand if it is denied in favour of a more principled fix.
I believe the TFs that are generated are not correct because the GPS/IMU calibration transform is not applied at all. This static transform would be applied between imu_link and velodyne sensor (which is equivalent to base_link).