Thank you for your open-source masterpiece.！
In this project, I noticed that the IMU data used in the "featureExtraction" and "lasermapping" nodes are measurements from the IMU instrument (i.e., directly integrating raw IMU data), rather than data from the "imuPreintegration" node, which is optimized IMU odometry data. This appears inconsistent with the brief description on the homepage. I would like to inquire whether there are additional open-source plans for this part in the future.
Thank you for your open-source masterpiece.！
In this project, I noticed that the IMU data used in the "featureExtraction" and "lasermapping" nodes are measurements from the IMU instrument (i.e., directly integrating raw IMU data), rather than data from the "imuPreintegration" node, which is optimized IMU odometry data. This appears inconsistent with the brief description on the homepage. I would like to inquire whether there are additional open-source plans for this part in the future.