Minor changes w.r.t. LeGO-LOAM

[robot54]

Hi @yzrobot,

Thank you for this dataset and the related Lidar odometry methods.

I'm applying the original version of LeGO-LOAM on your dataset (by 'original' I mean the version available via https://github.com/RobustFieldAutonomyLab/LeGO-LOAM). And I would like to know if you modified something in the code before getting the trajectory's figures based on the topic /aft_mapped_to_init.

In my humble opinion, in the original version of LeGO-LOAM at least, I think that the topic containing the final trajectory estimation is rather /key_pose_origin than /aft_mapped_to_init.
In attachment, you find a figure of both the poses contained in /key_pose_origin and /aft_mapped_to_init. The trajectories are very similar, except after the detection of a loop closure. There, /aft_mapped_to_init seems to "jump" until the correct pose without updating the previous poses, while /key_pose_origin seems to update all poses.

I would be happy to know your opinion about this. Don't hesitate to tell me what you think.

Have a nice day.

[yzrobot]

Hi,

Many thanks for pointing this out! We actually very much welcome community contributions and really appreciate it. We have linked your contribution to README to better help the community.

Best.