IMU to LiDar Transform

[oskarmue]

Hi I have a tilted LiDar and I dont really understand how to write the extrinsic Transformations. I think it schould be [0, 0, -1, 0, 1, 0, 1, 0, 0]. But it is not working. The lidar is mounted on a cart and being driven on a flat surface, but in rviz it is changing in elevation. At the same time the frames (imu and lidar) are doing really big jumps.

I am using LiDar: RsLidar Bpearl (using https://github.com/HViktorTsoi/rs_to_velodyne in order to convert the PCL) IMU: Xsens MTI 680

As far as I understand the IMU values are supposed to be transformed in the Lidar frame. Does that mean, if the x axes is directed downwards to the map frame, that the gravitational force has to be negative on the x axes, when using the imu debugger?

[ArghyaChatterjee]

Were you able to work with a tilted lidar? How was the transform from base_link to lidar frame ?