ROS IMU-Based LiDAR Point Cloud Tilt Compensation

Overview

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

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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.

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Requirements

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

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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