stevendaniluk / ghost Goto Github PK

Hi Steven,

I found your project on Medium. Very inspired stories and detailed descriptions. Thanks for your sharing.

I am now looking into your code and I cannot find the fusion part discussed in the IV chapter of your project. My question is basically about the extrinsic calibration of the IMU. Do you really do this w.r.t the car body coordinate? If yes, what is your solution. Also, can you opensource the fusion code?
Cheers,
Joey

As per ROS conventions (REP 105), '/odom' is usually the parent of '/base_footprint'. However, in the code odometry_integration.cpp, the following tf is being published: '/base_footprint' -> '/odom'. Is there any particular reason that you prefer to use the backward tf relationship? I am curious to know about it, because it is recommended that we follow the ROS conventions to make the code reusable as well as operable with other ROS packages.