ROS index logo ROS Index
  1. Home
  2. Packages
  3. lidar_imu_calib
 
No version for distro humble showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

lidar_imu_calib package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.0.0
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/WATonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-08-25
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Robust Real-time LiDAR-inertial Initialization

Maintainers

  • Cheny

Authors

No additional authors.
src/interfacing/calibration/lidar_imu_calib/README.md

lidar_imu_calib

Online LiDAR–IMU extrinsic calibration using the RILI (Robust real-time LiDAR–Inertial initialization) algorithm.

Overview

Before fusing LiDAR point clouds with IMU data for localization (e.g., in eidos), the rigid body transform between the LiDAR frame and the IMU frame must be known. This package estimates that transform online — without a calibration target — by correlating the motion observed in point cloud registration with the motion measured by the IMU.

The algorithm works while the vehicle is moving: it accumulates LiDAR frames and IMU measurements, solves for the 6-DOF extrinsic transform that best explains both motion sources simultaneously.

Output

The calibrated transform can be written to the URDF in eve_description to make it available over TF for all other nodes.

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged lidar_imu_calib at Robotics Stack Exchange

Package symbol

lidar_imu_calib package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.0.0
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/WATonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-08-25
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Robust Real-time LiDAR-inertial Initialization

Maintainers

  • Cheny

Authors

No additional authors.
src/interfacing/calibration/lidar_imu_calib/README.md

lidar_imu_calib

Online LiDAR–IMU extrinsic calibration using the RILI (Robust real-time LiDAR–Inertial initialization) algorithm.

Overview

Before fusing LiDAR point clouds with IMU data for localization (e.g., in eidos), the rigid body transform between the LiDAR frame and the IMU frame must be known. This package estimates that transform online — without a calibration target — by correlating the motion observed in point cloud registration with the motion measured by the IMU.

The algorithm works while the vehicle is moving: it accumulates LiDAR frames and IMU measurements, solves for the 6-DOF extrinsic transform that best explains both motion sources simultaneously.

Output

The calibrated transform can be written to the URDF in eve_description to make it available over TF for all other nodes.

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged lidar_imu_calib at Robotics Stack Exchange

No version for distro kilted showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

lidar_imu_calib package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.0.0
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/WATonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-08-25
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Robust Real-time LiDAR-inertial Initialization

Maintainers

  • Cheny

Authors

No additional authors.
src/interfacing/calibration/lidar_imu_calib/README.md

lidar_imu_calib

Online LiDAR–IMU extrinsic calibration using the RILI (Robust real-time LiDAR–Inertial initialization) algorithm.

Overview

Before fusing LiDAR point clouds with IMU data for localization (e.g., in eidos), the rigid body transform between the LiDAR frame and the IMU frame must be known. This package estimates that transform online — without a calibration target — by correlating the motion observed in point cloud registration with the motion measured by the IMU.

The algorithm works while the vehicle is moving: it accumulates LiDAR frames and IMU measurements, solves for the 6-DOF extrinsic transform that best explains both motion sources simultaneously.

Output

The calibrated transform can be written to the URDF in eve_description to make it available over TF for all other nodes.

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged lidar_imu_calib at Robotics Stack Exchange

No version for distro lyrical showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

lidar_imu_calib package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.0.0
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/WATonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-08-25
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Robust Real-time LiDAR-inertial Initialization

Maintainers

  • Cheny

Authors

No additional authors.
src/interfacing/calibration/lidar_imu_calib/README.md

lidar_imu_calib

Online LiDAR–IMU extrinsic calibration using the RILI (Robust real-time LiDAR–Inertial initialization) algorithm.

Overview

Before fusing LiDAR point clouds with IMU data for localization (e.g., in eidos), the rigid body transform between the LiDAR frame and the IMU frame must be known. This package estimates that transform online — without a calibration target — by correlating the motion observed in point cloud registration with the motion measured by the IMU.

The algorithm works while the vehicle is moving: it accumulates LiDAR frames and IMU measurements, solves for the 6-DOF extrinsic transform that best explains both motion sources simultaneously.

Output

The calibrated transform can be written to the URDF in eve_description to make it available over TF for all other nodes.

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged lidar_imu_calib at Robotics Stack Exchange

No version for distro rolling showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

lidar_imu_calib package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.0.0
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/WATonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-08-25
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Robust Real-time LiDAR-inertial Initialization

Maintainers

  • Cheny

Authors

No additional authors.
src/interfacing/calibration/lidar_imu_calib/README.md

lidar_imu_calib

Online LiDAR–IMU extrinsic calibration using the RILI (Robust real-time LiDAR–Inertial initialization) algorithm.

Overview

Before fusing LiDAR point clouds with IMU data for localization (e.g., in eidos), the rigid body transform between the LiDAR frame and the IMU frame must be known. This package estimates that transform online — without a calibration target — by correlating the motion observed in point cloud registration with the motion measured by the IMU.

The algorithm works while the vehicle is moving: it accumulates LiDAR frames and IMU measurements, solves for the 6-DOF extrinsic transform that best explains both motion sources simultaneously.

Output

The calibrated transform can be written to the URDF in eve_description to make it available over TF for all other nodes.

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged lidar_imu_calib at Robotics Stack Exchange

No version for distro ardent showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

lidar_imu_calib package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.0.0
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/WATonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-08-25
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Robust Real-time LiDAR-inertial Initialization

Maintainers

  • Cheny

Authors

No additional authors.
src/interfacing/calibration/lidar_imu_calib/README.md

lidar_imu_calib

Online LiDAR–IMU extrinsic calibration using the RILI (Robust real-time LiDAR–Inertial initialization) algorithm.

Overview

Before fusing LiDAR point clouds with IMU data for localization (e.g., in eidos), the rigid body transform between the LiDAR frame and the IMU frame must be known. This package estimates that transform online — without a calibration target — by correlating the motion observed in point cloud registration with the motion measured by the IMU.

The algorithm works while the vehicle is moving: it accumulates LiDAR frames and IMU measurements, solves for the 6-DOF extrinsic transform that best explains both motion sources simultaneously.

Output

The calibrated transform can be written to the URDF in eve_description to make it available over TF for all other nodes.

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged lidar_imu_calib at Robotics Stack Exchange

No version for distro bouncy showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

lidar_imu_calib package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.0.0
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/WATonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-08-25
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Robust Real-time LiDAR-inertial Initialization

Maintainers

  • Cheny

Authors

No additional authors.
src/interfacing/calibration/lidar_imu_calib/README.md

lidar_imu_calib

Online LiDAR–IMU extrinsic calibration using the RILI (Robust real-time LiDAR–Inertial initialization) algorithm.

Overview

Before fusing LiDAR point clouds with IMU data for localization (e.g., in eidos), the rigid body transform between the LiDAR frame and the IMU frame must be known. This package estimates that transform online — without a calibration target — by correlating the motion observed in point cloud registration with the motion measured by the IMU.

The algorithm works while the vehicle is moving: it accumulates LiDAR frames and IMU measurements, solves for the 6-DOF extrinsic transform that best explains both motion sources simultaneously.

Output

The calibrated transform can be written to the URDF in eve_description to make it available over TF for all other nodes.

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged lidar_imu_calib at Robotics Stack Exchange

No version for distro crystal showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

lidar_imu_calib package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.0.0
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/WATonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-08-25
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Robust Real-time LiDAR-inertial Initialization

Maintainers

  • Cheny

Authors

No additional authors.
src/interfacing/calibration/lidar_imu_calib/README.md

lidar_imu_calib

Online LiDAR–IMU extrinsic calibration using the RILI (Robust real-time LiDAR–Inertial initialization) algorithm.

Overview

Before fusing LiDAR point clouds with IMU data for localization (e.g., in eidos), the rigid body transform between the LiDAR frame and the IMU frame must be known. This package estimates that transform online — without a calibration target — by correlating the motion observed in point cloud registration with the motion measured by the IMU.

The algorithm works while the vehicle is moving: it accumulates LiDAR frames and IMU measurements, solves for the 6-DOF extrinsic transform that best explains both motion sources simultaneously.

Output

The calibrated transform can be written to the URDF in eve_description to make it available over TF for all other nodes.

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged lidar_imu_calib at Robotics Stack Exchange

No version for distro eloquent showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

lidar_imu_calib package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.0.0
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/WATonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-08-25
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Robust Real-time LiDAR-inertial Initialization

Maintainers

  • Cheny

Authors

No additional authors.
src/interfacing/calibration/lidar_imu_calib/README.md

lidar_imu_calib

Online LiDAR–IMU extrinsic calibration using the RILI (Robust real-time LiDAR–Inertial initialization) algorithm.

Overview

Before fusing LiDAR point clouds with IMU data for localization (e.g., in eidos), the rigid body transform between the LiDAR frame and the IMU frame must be known. This package estimates that transform online — without a calibration target — by correlating the motion observed in point cloud registration with the motion measured by the IMU.

The algorithm works while the vehicle is moving: it accumulates LiDAR frames and IMU measurements, solves for the 6-DOF extrinsic transform that best explains both motion sources simultaneously.

Output

The calibrated transform can be written to the URDF in eve_description to make it available over TF for all other nodes.

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged lidar_imu_calib at Robotics Stack Exchange

No version for distro dashing showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

lidar_imu_calib package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.0.0
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/WATonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-08-25
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Robust Real-time LiDAR-inertial Initialization

Maintainers

  • Cheny

Authors

No additional authors.
src/interfacing/calibration/lidar_imu_calib/README.md

lidar_imu_calib

Online LiDAR–IMU extrinsic calibration using the RILI (Robust real-time LiDAR–Inertial initialization) algorithm.

Overview

Before fusing LiDAR point clouds with IMU data for localization (e.g., in eidos), the rigid body transform between the LiDAR frame and the IMU frame must be known. This package estimates that transform online — without a calibration target — by correlating the motion observed in point cloud registration with the motion measured by the IMU.

The algorithm works while the vehicle is moving: it accumulates LiDAR frames and IMU measurements, solves for the 6-DOF extrinsic transform that best explains both motion sources simultaneously.

Output

The calibrated transform can be written to the URDF in eve_description to make it available over TF for all other nodes.

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged lidar_imu_calib at Robotics Stack Exchange

No version for distro galactic showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

lidar_imu_calib package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.0.0
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/WATonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-08-25
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Robust Real-time LiDAR-inertial Initialization

Maintainers

  • Cheny

Authors

No additional authors.
src/interfacing/calibration/lidar_imu_calib/README.md

lidar_imu_calib

Online LiDAR–IMU extrinsic calibration using the RILI (Robust real-time LiDAR–Inertial initialization) algorithm.

Overview

Before fusing LiDAR point clouds with IMU data for localization (e.g., in eidos), the rigid body transform between the LiDAR frame and the IMU frame must be known. This package estimates that transform online — without a calibration target — by correlating the motion observed in point cloud registration with the motion measured by the IMU.

The algorithm works while the vehicle is moving: it accumulates LiDAR frames and IMU measurements, solves for the 6-DOF extrinsic transform that best explains both motion sources simultaneously.

Output

The calibrated transform can be written to the URDF in eve_description to make it available over TF for all other nodes.

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged lidar_imu_calib at Robotics Stack Exchange

No version for distro foxy showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

lidar_imu_calib package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.0.0
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/WATonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-08-25
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Robust Real-time LiDAR-inertial Initialization

Maintainers

  • Cheny

Authors

No additional authors.
src/interfacing/calibration/lidar_imu_calib/README.md

lidar_imu_calib

Online LiDAR–IMU extrinsic calibration using the RILI (Robust real-time LiDAR–Inertial initialization) algorithm.

Overview

Before fusing LiDAR point clouds with IMU data for localization (e.g., in eidos), the rigid body transform between the LiDAR frame and the IMU frame must be known. This package estimates that transform online — without a calibration target — by correlating the motion observed in point cloud registration with the motion measured by the IMU.

The algorithm works while the vehicle is moving: it accumulates LiDAR frames and IMU measurements, solves for the 6-DOF extrinsic transform that best explains both motion sources simultaneously.

Output

The calibrated transform can be written to the URDF in eve_description to make it available over TF for all other nodes.

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged lidar_imu_calib at Robotics Stack Exchange

No version for distro iron showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

lidar_imu_calib package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.0.0
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/WATonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-08-25
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Robust Real-time LiDAR-inertial Initialization

Maintainers

  • Cheny

Authors

No additional authors.
src/interfacing/calibration/lidar_imu_calib/README.md

lidar_imu_calib

Online LiDAR–IMU extrinsic calibration using the RILI (Robust real-time LiDAR–Inertial initialization) algorithm.

Overview

Before fusing LiDAR point clouds with IMU data for localization (e.g., in eidos), the rigid body transform between the LiDAR frame and the IMU frame must be known. This package estimates that transform online — without a calibration target — by correlating the motion observed in point cloud registration with the motion measured by the IMU.

The algorithm works while the vehicle is moving: it accumulates LiDAR frames and IMU measurements, solves for the 6-DOF extrinsic transform that best explains both motion sources simultaneously.

Output

The calibrated transform can be written to the URDF in eve_description to make it available over TF for all other nodes.

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged lidar_imu_calib at Robotics Stack Exchange

No version for distro lunar showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

lidar_imu_calib package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

API Docs
Browse Code
Wiki

Package Summary

Version 0.0.0
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/WATonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-08-25
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Robust Real-time LiDAR-inertial Initialization

Maintainers

  • Cheny

Authors

No additional authors.
src/interfacing/calibration/lidar_imu_calib/README.md

lidar_imu_calib

Online LiDAR–IMU extrinsic calibration using the RILI (Robust real-time LiDAR–Inertial initialization) algorithm.

Overview

Before fusing LiDAR point clouds with IMU data for localization (e.g., in eidos), the rigid body transform between the LiDAR frame and the IMU frame must be known. This package estimates that transform online — without a calibration target — by correlating the motion observed in point cloud registration with the motion measured by the IMU.

The algorithm works while the vehicle is moving: it accumulates LiDAR frames and IMU measurements, solves for the 6-DOF extrinsic transform that best explains both motion sources simultaneously.

Output

The calibrated transform can be written to the URDF in eve_description to make it available over TF for all other nodes.

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged lidar_imu_calib at Robotics Stack Exchange

No version for distro jade showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

lidar_imu_calib package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

API Docs
Browse Code
Wiki

Package Summary

Version 0.0.0
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/WATonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-08-25
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Robust Real-time LiDAR-inertial Initialization

Maintainers

  • Cheny

Authors

No additional authors.
src/interfacing/calibration/lidar_imu_calib/README.md

lidar_imu_calib

Online LiDAR–IMU extrinsic calibration using the RILI (Robust real-time LiDAR–Inertial initialization) algorithm.

Overview

Before fusing LiDAR point clouds with IMU data for localization (e.g., in eidos), the rigid body transform between the LiDAR frame and the IMU frame must be known. This package estimates that transform online — without a calibration target — by correlating the motion observed in point cloud registration with the motion measured by the IMU.

The algorithm works while the vehicle is moving: it accumulates LiDAR frames and IMU measurements, solves for the 6-DOF extrinsic transform that best explains both motion sources simultaneously.

Output

The calibrated transform can be written to the URDF in eve_description to make it available over TF for all other nodes.

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged lidar_imu_calib at Robotics Stack Exchange

No version for distro indigo showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

lidar_imu_calib package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

API Docs
Browse Code
Wiki

Package Summary

Version 0.0.0
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/WATonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-08-25
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Robust Real-time LiDAR-inertial Initialization

Maintainers

  • Cheny

Authors

No additional authors.
src/interfacing/calibration/lidar_imu_calib/README.md

lidar_imu_calib

Online LiDAR–IMU extrinsic calibration using the RILI (Robust real-time LiDAR–Inertial initialization) algorithm.

Overview

Before fusing LiDAR point clouds with IMU data for localization (e.g., in eidos), the rigid body transform between the LiDAR frame and the IMU frame must be known. This package estimates that transform online — without a calibration target — by correlating the motion observed in point cloud registration with the motion measured by the IMU.

The algorithm works while the vehicle is moving: it accumulates LiDAR frames and IMU measurements, solves for the 6-DOF extrinsic transform that best explains both motion sources simultaneously.

Output

The calibrated transform can be written to the URDF in eve_description to make it available over TF for all other nodes.

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged lidar_imu_calib at Robotics Stack Exchange

No version for distro hydro showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

lidar_imu_calib package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

API Docs
Browse Code
Wiki

Package Summary

Version 0.0.0
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/WATonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-08-25
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Robust Real-time LiDAR-inertial Initialization

Maintainers

  • Cheny

Authors

No additional authors.
src/interfacing/calibration/lidar_imu_calib/README.md

lidar_imu_calib

Online LiDAR–IMU extrinsic calibration using the RILI (Robust real-time LiDAR–Inertial initialization) algorithm.

Overview

Before fusing LiDAR point clouds with IMU data for localization (e.g., in eidos), the rigid body transform between the LiDAR frame and the IMU frame must be known. This package estimates that transform online — without a calibration target — by correlating the motion observed in point cloud registration with the motion measured by the IMU.

The algorithm works while the vehicle is moving: it accumulates LiDAR frames and IMU measurements, solves for the 6-DOF extrinsic transform that best explains both motion sources simultaneously.

Output

The calibrated transform can be written to the URDF in eve_description to make it available over TF for all other nodes.

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged lidar_imu_calib at Robotics Stack Exchange

No version for distro kinetic showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

lidar_imu_calib package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

API Docs
Browse Code
Wiki

Package Summary

Version 0.0.0
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/WATonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-08-25
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Robust Real-time LiDAR-inertial Initialization

Maintainers

  • Cheny

Authors

No additional authors.
src/interfacing/calibration/lidar_imu_calib/README.md

lidar_imu_calib

Online LiDAR–IMU extrinsic calibration using the RILI (Robust real-time LiDAR–Inertial initialization) algorithm.

Overview

Before fusing LiDAR point clouds with IMU data for localization (e.g., in eidos), the rigid body transform between the LiDAR frame and the IMU frame must be known. This package estimates that transform online — without a calibration target — by correlating the motion observed in point cloud registration with the motion measured by the IMU.

The algorithm works while the vehicle is moving: it accumulates LiDAR frames and IMU measurements, solves for the 6-DOF extrinsic transform that best explains both motion sources simultaneously.

Output

The calibrated transform can be written to the URDF in eve_description to make it available over TF for all other nodes.

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged lidar_imu_calib at Robotics Stack Exchange

No version for distro melodic showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

lidar_imu_calib package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

API Docs
Browse Code
Wiki

Package Summary

Version 0.0.0
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/WATonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-08-25
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Robust Real-time LiDAR-inertial Initialization

Maintainers

  • Cheny

Authors

No additional authors.
src/interfacing/calibration/lidar_imu_calib/README.md

lidar_imu_calib

Online LiDAR–IMU extrinsic calibration using the RILI (Robust real-time LiDAR–Inertial initialization) algorithm.

Overview

Before fusing LiDAR point clouds with IMU data for localization (e.g., in eidos), the rigid body transform between the LiDAR frame and the IMU frame must be known. This package estimates that transform online — without a calibration target — by correlating the motion observed in point cloud registration with the motion measured by the IMU.

The algorithm works while the vehicle is moving: it accumulates LiDAR frames and IMU measurements, solves for the 6-DOF extrinsic transform that best explains both motion sources simultaneously.

Output

The calibrated transform can be written to the URDF in eve_description to make it available over TF for all other nodes.

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged lidar_imu_calib at Robotics Stack Exchange

No version for distro noetic showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

lidar_imu_calib package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

API Docs
Browse Code
Wiki

Package Summary

Version 0.0.0
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/WATonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-08-25
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Robust Real-time LiDAR-inertial Initialization

Maintainers

  • Cheny

Authors

No additional authors.
src/interfacing/calibration/lidar_imu_calib/README.md

lidar_imu_calib

Online LiDAR–IMU extrinsic calibration using the RILI (Robust real-time LiDAR–Inertial initialization) algorithm.

Overview

Before fusing LiDAR point clouds with IMU data for localization (e.g., in eidos), the rigid body transform between the LiDAR frame and the IMU frame must be known. This package estimates that transform online — without a calibration target — by correlating the motion observed in point cloud registration with the motion measured by the IMU.

The algorithm works while the vehicle is moving: it accumulates LiDAR frames and IMU measurements, solves for the 6-DOF extrinsic transform that best explains both motion sources simultaneously.

Output

The calibrated transform can be written to the URDF in eve_description to make it available over TF for all other nodes.

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged lidar_imu_calib at Robotics Stack Exchange