lidar_undistortion_2d

a ros package for lidar motion compensation

Introduction

读取odom数据对2D激光雷达数据进行运动畸变校正。

This ros package uses odom transform data to correct motion distortion of a 2D LIDAR in real time。

Result

在图片中，黄色方框代表机器人的位姿，红色点云代表原始的激光雷达数据，白色方框代表经过运动补偿后的激光雷达数据。

in this picture, the yellow rectangle represents the pose of robot, the red poindcloud represents the origin lidar data, and the white pointcloud represents the lidar data after compensation.

Test with rosbag

1. compile the project and source devel/setup.sh

roslaunch lidar_undistortion_2d test_lidar_undistortion_2d.launch enable_undistortion:=true

3. find /bag/sensor_data.bag

rosbag play --clock sensor_data.bag

4. result

the gif showed below represents location with orign lidar data.

the gif showed below represents location with undistortion lidar data.

Reference

https://github.com/elewu/2d_lidar_undistortion/

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