integrating oscillation with nebula driver

[dotun457]

Hello @amc-nu
I'm working on integrating a Lidar (VLP or Hesai) with an IMU and to be honest I'm not really familiar with ROS and I was wondering if you'd know or have any suggestions on how to integrate the nebula with oscillation. I believe generally the approach for this is to transform the generated point clouds to the same time stamped frame of reference of the IMU readings.

But like I said I'm not too familiar with ROS IMU library to use in tandem with your nebula driver, any advice , guides or thoughts would be greatly appreciated.

[amc-nu]

@dotun457
Please let me add some questions to better understand.

• Does the IMU device have an ethernet, serial, or CAN connection?
• Do you already have a way to programmatically obtain data from your IMU? (C++ or Python program)

[dotun457]

thanks for replying @amc-nu to be honest including the IMU in my question may have been premature.

I mentioned an IMU because from my research online it seemed like the only way to make sure that the 3d dataset of the lidar could be correctly translated to the same reference however now I'm not so sure.

So I think a better question would be,
a.) is it possible to use nebula to parse and get an accurate point cloud of an oscillated hesai sensor using without any other sensors ? or is an IMU or maybe a SLAM algorithm the only way to create an accurate point cloud ?