Merge branch 'bz/dev/lidar-imu-calibration' of github.com:leo-drive/a…

…utoware-documentation into bz/dev/lidar-imu-calibration
autowarefoundation · Nov 17, 2023 · 61bd10e · 61bd10e
2 parents f09df7d + aae71cd
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diff --git a/...reating-vehicle-and-sensor-model/calibrating-sensors/calibration-tools/index.md b/...reating-vehicle-and-sensor-model/calibrating-sensors/calibration-tools/index.md
@@ -82,4 +82,4 @@ completed launch files when created following tutorial sections can be found [he
   - [Ground Plane-Lidar Calibration](../ground-lidar-calibration)
 - [Intrinsic Camera Calibration](../intrinsic-camera-calibration)
 - [Lidar-Camera Calibration](../lidar-camera-calibration)
-- - [Lidar-Imu Calibration](../lidar-imu-calibration)
+- [Lidar-Imu Calibration](../lidar-imu-calibration)
diff --git a/...ing-vehicle-and-sensor-model/calibrating-sensors/lidar-imu-calibration/index.md b/...ing-vehicle-and-sensor-model/calibrating-sensors/lidar-imu-calibration/index.md
@@ -15,8 +15,8 @@ are calibrated comprehensively without explicit hand-crafted targets.
 
 !!! warning
 
-    This calibration tool is developed with ROS 1, and it is not compatible with ROS 2.
     So, we are providing a docker image which has ROS 1 and all necessary packages.
+    This calibration tool is developed with ROS 1, and it is not compatible with ROS 2.
     In the calibration instructions, we will ask you to install docker on your
     system.
 
@@ -251,13 +251,13 @@ in the `OA-LICalib/config/simu.yaml` file.
 
 To achieve better results, you can tune the parameters in the `config/simu.yaml` file. The parameters are explained below:
 
-| Parameter                | Value                                                                                                 |
-| ------------------------ | ----------------------------------------------------------------------------------------------------- |
+| Parameter                | Value                                                                                                   |
+| ------------------------ | ------------------------------------------------------------------------------------------------------- |
 | ndtResolution            | Resolution of NDT grid structure (VoxelGridCovariance)<br/>0,5 for indoor case and 1.0 for outdoor case |
-| ndt_key_frame_downsample | Resolution parameter for voxel grid downsample function                                               |
-| map_downsample_size      | Resolution parameter for voxel grid downsample function                                             |
-| knot_distance            | time interval                                                                                         |
-| plane_motion             | set true if you collect data from vehicle                                                             |
-| gyro_weight              | gyrometer sensor output’s weight for trajectory estimation                                            |
-| accel_weight             | accelerometer sensor output’s weight for trajectory estimation                                        |
-| lidar_weight             | lidar sensor output’s weight for trajectory estimation                                                |
+| ndt_key_frame_downsample | Resolution parameter for voxel grid downsample function                                                 |
+| map_downsample_size      | Resolution parameter for voxel grid downsample function                                                 |
+| knot_distance            | time interval                                                                                           |
+| plane_motion             | set true if you collect data from vehicle                                                               |
+| gyro_weight              | gyrometer sensor output’s weight for trajectory estimation                                              |
+| accel_weight             | accelerometer sensor output’s weight for trajectory estimation                                          |
+| lidar_weight             | lidar sensor output’s weight for trajectory estimation                                                  |