TIGS Dataset - norlab-ulaval/Norlab_wiki GitHub Wiki
The dataset is available for download here.
The extrinsic calibration between the lidar and IMU can be published as TFs in ROS 2 Humble using the following launch file:
<launch>
<node pkg="tf2_ros" exec="static_transform_publisher" name="xsens_tf_pub" args="--x 0 --y 0 --z 0 --yaw 0 --pitch 0 --roll 0 --frame-id base_link --child-frame-id mti30"/>
<node pkg="tf2_ros" exec="static_transform_publisher" name="vectornav_tf_pub" args="--x 0.05686 --y 0 --z 0 --yaw 1.57079632679 --pitch 0 --roll 0 --frame-id mti30 --child-frame-id vn100"/>
<node pkg="tf2_ros" exec="static_transform_publisher" name="lidar_tf_pub" args="--x 0.02014 --y 0.08745 --z 0.0398 --yaw -1.57079632679 --pitch 0 --roll 0 --frame-id mti30 --child-frame-id rslidar16"/>
</launch>
