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ROS IMU-Based LiDAR Point Cloud Tilt Compensation

Overview

This ROS 1 package compensates for tilt in LiDAR point clouds using IMU sensor data.

Features

  • Real-time tilt correction for LiDAR point clouds using IMU data.
  • Subscribes to IMU and LiDAR point cloud topics.
  • Publishes tilt-corrected point clouds for downstream navigation and mapping.

Requirements

  • ROS 1 (tested with Noetic)
  • IMU sensor publishing /imu topic (sensor_msgs/Imu)
  • LiDAR sensor publishing /scan or /points topic (sensor_msgs/PointCloud2)

Installation

Clone the repository into your ROS 1 workspace and build:

cd ~/catkin_ws/src
git clone https://github.com/Leeseunghun03/lidar_imu_correction.git
cd ~/catkin_ws
catkin_make
source ~/catkin_ws/devel/setup.bash

Usage

roslaunch lidar_imu_correction lidar_imu_correction.launch