hokuyo (URG-04LX) + imu (3DM-GX3-25) +hector mappping
I am using hokuyo (URG-04LX) + imu (3DM-GX3-25) and a mirror for height estimation to do 2D hector mappping and octomap to perform 3D mapping.all the frames transform are ok now . i know my hokuyo scan rate is not high enough,but this is the only laser scan i have. when i tested it around my lab, after turning the second corner map is not 90 degrees and become messy.i know that imu only provide pitch and roll data to hector mapping,now i am trying use imu data for yaw angle to help the hokuyo and hector map perform better,but do not know how.