Localization just from IMU data?
I am looking for a solution to localize my robot just from IMU data. The problem is, I have some Velodyne 3D scans and IMU data saved to a Bag file and I need to make an Octomap or some other 3D reconstruction method to visualize my data.
I tested the laser_scan_matcher
and the pointcloud_to_laserscan
package but the first throws an error Invalid number of rays: 62112
and the second one just outputs something like a straight line that doesn't change. So both are not capable of processing the huge amount of Velodyne data.
I got both the laser_scan_matcher and the pointcloud_to_laserscan package working with the VLP-16 LiDAR, you have to change some parameters for both to get them to work.