Odometry Shows Movement/Rotation While Stationary with Unitree L2 on Jetson Orin

[brayanpa]

Hi, I'm having trouble configuring GLIM with the Unitree L2 LiDAR on a Jetson Orin.

The main issue is that the odometry seems to think the LiDAR is rotating and moving, even when the sensor is completely stationary. I configured the T_lidar_imu transform as specified by the manufacturer:

T_lidar_imu: [-0.007698, -0.014655, 0.00667, 0, 0, 0, 1]

I've been testing and tweaking various parameters, but I haven't seen any improvement so far. The IMU data from the LiDAR alone looks stable and doesn't show any obvious problems, so I suspect this could either be a configuration issue or a problem with my specific unit.

I've attached a video that illustrates the behavior I'm seeing. Any guidance on how to properly configure GLIM for this sensor or how to determine if it's a hardware issue would be greatly appreciated.

Thanks in advance!

https://github.com/user-attachments/assets/00ffe645-1e33-4de5-8ceb-7124e967daae

[Breaking-Bugs]

Try to use the imu_validator to confirm that you have correctly transformed the lidar into the imu frame. Here you can read more about it: https://github.com/koide3/glim/wiki/FAQ Hope this helps!