Gaurav Kapoor

1. Source clone and build [cartographer_ros](https://github.com/ros2/cartographer_ros) ROS2 repository. 2. Add these lines in your [CMakeLists.txt](https://github.com/ros2/cartographer_ros/blob/dashing/cartographer_ros/CMakeLists.txt) file. `set(ALL_SRCS "cartographer_ros/map_builder_bridge.cc" "cartographer_ros/msg_conversion.cc" "cartographer_ros/node.cc" "cartographer_ros/node_constants.cc" "cartographer_ros/node_options.cc" "cartographer_ros/ros_log_sink.cc" "cartographer_ros/sensor_bridge.cc" "cartographer_ros/tf_bridge.cc" "cartographer_ros/time_conversion.cc" "cartographer_ros/trajectory_options.cc" "cartographer_ros/submap.cc" "cartographer_ros/ros_map.cc" "cartographer_ros/ros_map_writing_points_processor.cc"...

@mnissov You are right. The rotation part is correct but relatively. I realized by visualizing the data in Rviz2 that the laser_data_frame is 180 degrees to the lidar frame in...

@mnissov Yes this is what I did in my application. I rotated the laser_sensor_frame by 180 degrees. But then we have to offset the laser_sensor_frame by +36.18 mm as the...

Actually I had to give the transformation from the base_link of the robot to the laser_sensor frame.There it self I rotated the laser_sensor frame by 180 degrees and added the...

@mnissov What about the translations? Which translations should we use? as given in the software manual or in this driver which are 0, 0, 0 with respect to each other.

If you are rotating the laser_sensor_frame by 180 degrees then you also need to rotate imu_data_frame by 180 degrees. I am attaching the pics of the imu linear acceleration data...

Ok thanks for your reply. Let's see what @SteveMacenski has to say in this.