通过imu去雷达畸变
#include <ros/ros.h>
#include <sensor_msgs/Imu.h>
#include <sensor_msgs/LaserScan.h>
#include <tf/tf.h>
// 变量用于存储最新的IMU数据
sensor_msgs::Imu latest_imu_data;
bool imu_data_received = false;
// 声明雷达数据发布器
ros::Publisher corrected_scan_pub;
// IMU数据回调函数
void imuCallback(const sensor_msgs::Imu::ConstPtr& imu_msg) {
latest_imu_data = *imu_msg;
imu_data_received = true;
}
// 雷达数据回调函数
void scanCallback(const sensor_msgs::LaserScan::ConstPtr& scan_msg) {
if (!imu_data_received) {
ROS_WARN("IMU data not received yet. Skipping scan correction.");
return;
}
// 创建一个新的LaserScan消息,用于存储修正后的数据
sensor_msgs::LaserScan corrected_scan = *scan_msg;
// 获取IMU的角速度 (绕Z轴的角速度)
double angular_velocity_z = latest_imu_data.angular_velocity.z;
// 遍历雷达数据的每个测量点
for (size_t i = 0; i < scan_msg