Find coordinate system of GPS data of IMU
Hello,
I use IMU for SLAM application. It outputs topics like:
/xsens/filter/free_acceleration
/xsens/filter/positionlla
/xsens/filter/quaternion
/xsens/filter/twist
/xsens/filter/velocity /xsens/gnss
/xsens/imu/acceleration
/xsens/imu/angular_velocity
/xsens/imu/data /xsens/imu/mag
/xsens/imu/time_ref
Assume at time t, the GPS location of my robot is x in longitude/latitude/altitude format. At that time I have a lidar scan from the environment. My LiDAR and IMU are almost in the same location. Now I want to give each lidar point a GPS location by using the GPS location of the LiDAR sensor.
The problem is GPS topic just gives the GPS location and there is no direction in GPS coordinate system.
Is there a solution to this? For example, other topics do provide useful complementary information?
