We have a Velodyne HDL-64E S2.1 LiDAR which sends its data with GPS time stamps. We have to transform this LiDAR data according to the data we get from an IMU.
In the Velodyne driver there is a transformation node that uses a published tf data to perform this transformation. My question is how can you synchronize this two data stream? We would like to process it offline, after the recording. We cannot start the two node exactly in the same time and even than the recorded/logged data may started in slightly different time.
Thank you!