seems a very tiny bug??

[Rick0514]

imuPreintergration.cpp:48~52

  try
  {
      tfListener.waitForTransform(lidarFrame, baselinkFrame, ros::Time(0), ros::Duration(3.0));
      tfListener.lookupTransform(lidarFrame, baselinkFrame, ros::Time(0), lidar2Baselink);
  }

It looks like to obtain lidar to baselink static transform. However, I googled what lookupTransform returns and it seems to the reverse case(which means baselink to lidar)??

Though it is trivial, it is not correct from what I searched and tested.

change to follow ??

      tfListener.lookupTransform(baselinkFrame, lidarFrame, ros::Time(0), lidar2Baselink);

[stale[bot]]

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