1、APRIL-ZJU lidar_IMU_calib(velodyne_packets)
安装依赖
sudo apt-get install ros-noetic-pcl-ros
sudo apt-get install ros-noetic-velodyne-msgs
编译代码
mkdir -p ~/catkin_li_calib/src
cd ~/catkin_li_calib/src
catkin_init_workspace
git clone https://github.com/APRIL-ZJU/lidar_IMU_calib
wstool init
wstool merge lidar_IMU_calib/depend_pack.rosinstall
wstool update
cd lidar_imu_calib
./build_submodules.sh
cd …/…
catkin_make
source ./devel/setup.bash
gedit ~/catkin_li_calib/src/CMakeLists.txt
set( CMAKE_CXX_STANDARD 14)
rosrun nodelet nodelet standalone velodyne_pointcloud/CloudNodelet _calibration:=“/home/qyx/Workspace/ros_catkin_ws/src/velodyne/velodyne_pointcloud/pams/32db.yaml”
/velodyne_packets : velodyne_msgs/VelodyneScan
/velodyne_points : sensor_msgs/PointCloud2
手持的话，各个轴都做充分的旋转后，标定出来的误差很小，
如果是车载，只做了Z轴的旋转，