update readme - add new dataset

README.md

@@ -95,7 +95,8 @@ The user needs to prepare the point cloud data in the correct format for cloud d
     - The "imuTopic" parameter in "config/params.yaml" needs to be set to "imu_correct".
     - The "extrinsicRot" and "extrinsicRPY" in "config/params.yaml" needs to be set as identity matrices.
       - [**Rotation dataset**](https://drive.google.com/file/d/1V4ijY4PgLdjKmdzcQ18Xu7VdcHo2UaWI/view?usp=sharing)
-      - [**Campus dataset**](https://drive.google.com/file/d/1q4Sf7s2veVc7bs08Qeha3stOiwsytopL/view?usp=sharing)
+      - [**Campus dataset (large)**](https://drive.google.com/file/d/1q4Sf7s2veVc7bs08Qeha3stOiwsytopL/view?usp=sharing)
+      - [**Campus dataset (small)**](https://drive.google.com/file/d/1_V-cFMTQ4RO-_16mU9YPUE8ozsPeddCv/view?usp=sharing)
 
 ## Run the package
 

config/params.yaml

@@ -2,7 +2,7 @@ lio_sam:
 
   # Topics
   pointCloudTopic: "points_raw"               # Point cloud data
-  imuTopic: "imu_raw"                         # IMU data
+  imuTopic: "imu_correct"                         # IMU data
   odomTopic: "odometry/imu"                   # IMU pre-preintegration odometry, same frequency as IMU
   gpsTopic: "odometry/gpsz"                   # GPS odometry topic from navsat, see module_navsat.launch file
 
@@ -29,18 +29,18 @@ lio_sam:
 
   # Extrinsics (lidar -> IMU)
   extrinsicTrans: [0.0, 0.0, 0.0]
-  extrinsicRot: [-1, 0, 0,
-                  0, 1, 0,
-                  0, 0, -1]
-  extrinsicRPY: [0,  1, 0,
-                 -1, 0, 0,
-                  0, 0, 1]
-  # extrinsicRot: [1, 0, 0,
-  #                 0, 1, 0,
-  #                 0, 0, 1]
-  # extrinsicRPY: [1, 0, 0,
+  # extrinsicRot: [-1, 0, 0,
   #                 0, 1, 0,
+  #                 0, 0, -1]
+  # extrinsicRPY: [0,  1, 0,
+  #                -1, 0, 0,
   #                 0, 0, 1]
+  extrinsicRot: [1, 0, 0,
+                  0, 1, 0,
+                  0, 0, 1]
+  extrinsicRPY: [1, 0, 0,
+                  0, 1, 0,
+                  0, 0, 1]
 
   # LOAM feature threshold
   edgeThreshold: 1.0