1.将文件夹解压后安装在catkin_ws/src下
```mkdir -p catkin_ws/src cd catkin_ws/srcgit clone /chennuo0125-HIT/lidar_imu_calib.gitcd ..catkin_make -DCATKIN_WHITELIST_PACKAGES="ndt_omp;lidar_imu_calib"```
2.报错：/usr/include/flann/util/serialization.h:9:10: fatal error: flann/lz4.h: 没有那个文件或目录
#include "flann/lz4.h"4 ^~~~~~~~~~~~compilation terminated.
😆️solution
sudo mv /usr/include/flann/ext/lz4.h /usr/include/flann/ext/lz4.h.baksudo mv /usr/include/flann/ext/lz4hc.h /usr/include/flann/ext/lz4.h.baksudo ln -s /usr/include/lz4.h /usr/include/flann/ext/lz4.hsudo ln -s /usr/include/lz4hc.h /usr/include/flann/ext/lz4hc.h
3.开启imu和雷达并录制bag包
rosbag record /imu/data_open /rslidar_points
4.launch文件修改
<launch><node pkg="lidar_imu_calib" type="calib_exR_lidar2imu_node" name="calib_exR_lidar2imu_node" output="screen"><param name="/lidar_topic" value="/rslidar_points"/><param name="/imu_topic" value="/imu/data_open"/><param name="/bag_file" value="/home/goocc/catkin_ws/-11-07-22-26-51.bag"/></node></launch>
5.运行
roslaunch lidar_imu_calib calib_exR_lidar2imu.launch
6.结果
result euler angle(RPY) : 0.597674 -0.209234 2.72659result extrinsic rotation matrix : -0.895158 -0.226333 0.3840120.394395 -0.803605 0.4457270.207711 0.550448 0.808618
