Skip to content

angular velocity scale #318

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
koide3 merged 1 commit into from
Aug 11, 2026
+2 −0
Merged

angular velocity scale #318

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 2 additions & 0 deletions config/config_ros.json
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,7 @@
// --- IMU config ---
// imu_time_offset : Time offset for IMU data (in seconds)
// acc_scale : Accelerometer scale factor (Set to 9.80665 for Livox sensors)
// ang_scale : Gyroscope scale factor (Set to 0.017453 [pi/180] for Hesai sensors)
//
// --- TF config ---
// GLIM publishes TF subtrees "map -> odom -> base_frame" and "imu -> lidar".
Expand Down Expand Up @@ -53,6 +54,7 @@
"imu_time_offset": 0.0,
"points_time_offset": 0.0,
"acc_scale": 0.0, // Auto-detect if zero
"ang_scale": 1.0,
// TF config
"imu_frame_id": "", // Auto-detect if blank
"lidar_frame_id": "", // Auto-detect if blank
Expand Down
Loading