Best Way for Setting the translation of init_T_world_imu

[qiayuanl]

I am trying to integrate this odom into another control stack.

I wonder what the best way is to set the translation of init_T_world_imu, but still preserve the functionality of InitialStateEstimation (orientation initialization)

According to the code here, for now, if I set the init_T_world_imu, both translation and rotation are settled, and none of the InitialStateEstimation will be run.

[koide3]

The current implementation requires specifying both the translation and rotation of the initial IMU pose. Why you want to specify only the translation?

[qiayuanl]

Let's say I have a legged robot, when it lies on the ground, I know the height of the lidar, but I still want to have the orientation initialized automatically.

[koide3]

OK, I think you need to slightly change the code in initial_state_estimation.cpp. Here is the line that sets the initial sensor pose.