Tips for using imu_utils for imu calibration

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1. Install Ceres

* Dependencies:

$ sudo apt-get install liblapack-dev libsuitesparse-dev libcxsparse3.1.4 libgflags-dev
$ sudo apt-get install libgoogle-glog-dev libgtest-dev
 * Eigen version should be newer than 3.3.4.

 * Download the version ceres-solver-1.14.0.tar.gz directly.

2. Build code_utils

* Dependency: sudo apt-get install libdw-dev

* Build the source code in the ROS_WORKSPACE

* Modify file: catkin_ws/src/code_utils/src/sumpixel_test.cpp

#include "backward.hpp" ->  #include “code_utils/backward.hpp”

3. Build imu_utils

* Build the source code in the ROS_WORKSPACE

4. Run the calibration

* Create your own .launch file. (assign the topic name, time duration...)

* roslaunch imu_utils XXX.launch first and then rosbag play -r 200 XXX.bag

***Don't forget to source setup.bash file !

Reference:
[1] https://github.com/gaowenliang/imu_utils
[2] https://zhuanlan.zhihu.com/p/151675712
[3] https://blog.csdn.net/qq_41586768/article/details/107541917
[4] http://ceres-solver.org/installation.html
[5] https://github.com/gaowenliang/code_utils
[6] https://blog.csdn.net/fang794735225/article/details/92804030
[7] https://www.shangmayuan.com/a/23a28c5c832a48929f8934d4.html

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