通过imu去雷达畸变

#include <ros/>

#include <sensor_msgs/>

#include <sensor_msgs/>

#include <tf/>

// 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->ranges.size(); ++i) {

// 当前测量点的角度

double angle = scan_msg->angle_min + i * scan_msg->angle_increment;

// 根据角速度和时间修正测量点

double time_offset = (scan_msg->time_increment * i);

double angle_offset = angular_velocity_z * time_offset;

// 修正后的角度

double corrected_angle = angle + angle_offset;

// 修正后的距离

double corrected_distance = scan_msg->ranges[i];

// 更新修正后的LaserScan消息

corrected_scan.ranges[i] = corrected_distance;

}

// 发布修正后的雷达数据

corrected_scan_pub.publish(corrected_scan);

}

// rosrun trilateration trilateration_test45_node

int main(int argc, char **argv) {

ros::init(argc, argv, "trilateration_test45_node");

ros::NodeHandle nh;

// 订阅IMU和雷达数据

ros::Subscriber imu_sub = nh.subscribe("/imu/data", 1000, imuCallback);

ros::Subscriber scan_sub = nh.subscribe("/scan", 1000, scanCallback);

// 初始化发布器，发布修正后的雷达数据

corrected_scan_pub = nh.advertise<sensor_msgs::LaserScan>("/san_corrected", 1000);

ros::spin();

return 0;

}