How to configure LIO-SAM with a vectornav VN100 and a velodyne VLP-16

[Cristian-wp]

Hi, as the title suggest I am trying to use this slam in my work with a lidar velodyne vlp16 and a imu vectornav vn100. I have problem finding the two correct matrix extrinsicRot and extrinsicRPY.

LIDAR
            x
       ^                                     
       |
<------o  z     
y


IMU
     ^     X
     |
     |
Z    x --------> y

Using the suggested package https://github.com/chennuo0125-HIT/lidar_imu_calib I have got:

 extrinsicRot: [0.999076, -0.0367046, -0.0223499,
                 -0.0353996,  -0.99779,  0.0562256,
                 -0.0243642, -0.0553825,  -0.998168]

So I have set the other one to:

  extrinsicRPY: [1, 0, 0,
                          0, -1, 0,
                          0, 0, -1]

But when I try to follow the validation video https://www.youtube.com/watch?v=BOUK8LYQhHs I can not get the same results. My gravity vector from the imu is g=[0,0,-9.8] and in the validation is g=[0,0,9.8] and the rviz visualization is fine (is not jumping). But for example when I rotate around +Z (velodyne frame) the diagnostic give me a decreasing yaw.

Can someone help me with this problem? Another thing, the trasformations are imu ---> lidar or lidar --->imu? I know that in params.yams there is write (Extrinsics (lidar -> IMU) ) but I can not understand if is correct.

Thanks in advance.

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