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The direction and pose in RVIZ is different from the real world of 90°

asked 2022-04-26 20:53:51 -0500

SakuraYanhuo
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Hello! I would appreciate it if you could help me.

When the car uses lidar for SLAM, I found that the direction in rviz is different from the real world of 90°. It means that the car runs east-west but North-South in rviz.

The car is compsoed of STM32 and Jetson-nano.

I guess something’s wrong with IMU？But I’m not sure. I don’t know how to solve this problem.

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answered 2022-04-28 03:46:48 -0500

Joe28965

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My guess is the problem lies somewhere in your URDF of your car. The URDF describes how the IMU link is connected to the base_link of the car. I'm guessing it's rotated 90° with comparison to what you have on the real car.

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Ohhh, thank you for your reply! I will try as you said.

SakuraYanhuo ( 2022-04-29 19:52:03 -0500 )edit

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Asked: 2022-04-26 20:53:51 -0500

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Last updated: Apr 28 '22

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The direction and pose in RVIZ is different from the real world of 90°