Question about how to run the LiDAR-IMU navigation simulation

[Joanna-HE]

Thanks for such good work, and thank you for open-sourcing this project. I would like to use this project to simulate LiDAR measurements with an exact time stamp for each LiDAR point. Could it be realized and how can I run this project?

I hope to hearing from you.

Best regards,

Dongjiao He

[arasika]

Please refer to the cloudHandler() function in gazebo_iclsimu/icl_simu/src/sin_trj.cpp. The timestamp is also simulated within the cloudHandler() function. However, the distortion in the simulation is added afterward, so there is still a gap compared to the real environment. For more information, you can contact me via email at [[email protected]].