激光雷达+imu畸变补偿ros代码

以下是一个基于ROS的激光雷达+IMU畸变补偿的示例代码：

#include <ros/ros.h>
#include <sensor_msgs/Imu.h>
#include <sensor_msgs/LaserScan.h>
#include <tf/transform_listener.h>
#include <tf/transform_broadcaster.h>

class LaserImuCalibration
{
public:
  LaserImuCalibration();
  void imuCallback(const sensor_msgs::Imu::ConstPtr& imu_msg);
  void scanCallback(const sensor_msgs::LaserScan::ConstPtr& scan_msg);

private:
  ros::NodeHandle nh_;
  ros::Subscriber imu_sub_;
  ros::Subscriber scan_sub_;
  tf::TransformListener tf_listener_;
  tf::TransformBroadcaster tf_broadcaster_;
  ros::Publisher scan_pub_;
  sensor_msgs::LaserScan scan_msg_;
  bool imu_received_;
  bool scan_received_;
  double imu_roll_, imu_pitch_, imu_yaw_;
  double imu_gx_, imu_gy_, imu_gz_;
  double imu_ax_, imu_ay_, imu_az_;
  double imu_time_;
  double scan_time_;
};

LaserImuCalibration::LaserImuCalibration() : imu_received_(false), scan_received_(false)
{
  imu_sub_ = nh_.subscribe("/imu/data", 1, &LaserImuCalibration::imuCallback, this);
  scan_sub_ = nh_.subscribe("/scan", 1, &LaserImuCalibration::scanCallback, this);
  scan_pub_ = nh_.advertise<sensor_msgs::LaserScan>("/scan_calibrated", 1);
}

void LaserImuCalibration::imuCallback(const sensor_msgs::Imu::ConstPtr& imu_msg)
{
  imu_received_ = true;
  imu_roll_ = imu_msg->orientation.x;
  imu_pitch_ = imu_msg->orientation.y;
  imu_yaw_ = imu_msg->orientation.z;
  imu_gx_ = imu_msg->angular_velocity.x;
  imu_gy_ = imu_msg->angular_velocity.y;
  imu_gz_ = imu_msg->angular_velocity.z;
  imu_ax_ = imu_msg->linear_acceleration.x;
  imu_ay_ = imu_msg->linear_acceleration.y;
  imu_az_ = imu_msg->linear_acceleration.z;
  imu_time_ = imu_msg->header.stamp.toSec();
}

void LaserImuCalibration::scanCallback(const sensor_msgs::LaserScan::ConstPtr& scan_msg)
{
  scan_received_ = true;
  scan_time_ = scan_msg->header.stamp.toSec();
  scan_msg_ = *scan_msg;
}

int main(int argc, char** argv)
{
  ros::init(argc, argv, "laser_imu_calibration");
  LaserImuCalibration node;

  while (ros::ok())
  {
    ros::spinOnce();

    if (node.imu_received_ && node.scan_received_)
    {
      // Get the laser scanner transformation
      tf::StampedTransform laser_transform;
      try
      {
        node.tf_listener_.lookupTransform("laser", "imu", ros::Time(0), laser_transform);
      }
      catch (tf::TransformException ex)
      {
        ROS_ERROR("%s", ex.what());
        continue;
      }

      // Compute the rotation matrix from the IMU data
      tf::Quaternion q(imu_roll_, imu_pitch_, imu_yaw_);
      tf::Matrix3x3 m(q);
      double imu_roll, imu_pitch, imu_yaw;
      m.getRPY(imu_roll, imu_pitch, imu_yaw);

      // Compute the IMU acceleration in the laser scanner frame
      tf::Vector3 imu_acceleration(imu_ax_, imu_ay_, imu_az_);
      imu_acceleration = laser_transform.getBasis() * imu_acceleration;

      // Compute the IMU angular velocity in the laser scanner frame
      tf::Vector3 imu_angular_velocity(imu_gx_, imu_gy_, imu_gz_);
      imu_angular_velocity = laser_transform.getBasis() * imu_angular_velocity;

      // Compute the time offset between the IMU and the laser scanner
      double time_offset = scan_time_ - imu_time_;

      // Update the laser scanner pose using the IMU data
      tf::Quaternion q_laser = laser_transform.getRotation();
      tf::Quaternion q_imu(imu_roll, imu_pitch, imu_yaw);
      tf::Quaternion q_new = q_imu * q_laser;
      tf::Transform laser_transform_new(q_new, laser_transform.getOrigin());
      laser_transform_new.setOrigin(laser_transform_new.getOrigin() + laser_transform_new.getBasis() * imu_acceleration * time_offset);
      laser_transform_new.setRotation(laser_transform_new.getRotation() + tf::Quaternion(0, 0, imu_angular_velocity.getZ() * time_offset, 1) * laser_transform_new.getRotation() * 0.5);

      // Publish the calibrated laser scanner data
      scan_msg_.header.stamp = ros::Time::now();
      tf::transformStampedTFToMsg(tf::StampedTransform(laser_transform_new, scan_msg_.header.stamp, "imu", "laser"), scan_msg_.header.frame_id);
      scan_pub_.publish(scan_msg_);

      // Broadcast the laser scanner pose
      tf_broadcaster_.sendTransform(tf::StampedTransform(laser_transform_new, ros::Time::now(), "imu", "laser"));

      // Reset the received flags
      node.imu_received_ = false;
      node.scan_received_ = false;
    }
  }

  return 0;
}

该代码中，首先定义了LaserImuCalibration类，该类订阅IMU数据和激光雷达数据，然后计算IMU数据和激光雷达数据之间的转换关系，最后发布校准后的激光雷达数据。

在imuCallback回调函数中，获取IMU的姿态角、角速度和加速度等数据。在scanCallback回调函数中，获取激光雷达数据。

在计算激光雷达和IMU之间的转换关系时，需要获取激光雷达和IMU之间的变换关系，可以使用tf库中的tf_listener查找二者之间的变换关系。然后，根据IMU的姿态角、角速度和加速度等数据，计算出激光雷达在IMU坐标系下的位姿，并通过发布校准后的激光雷达数据和广播激光雷达位姿，完成畸变补偿。

需要注意的是，该代码仅供参考，具体实现需要根据实际情况进行修改。