Merge branch 'master' of https://github.com/koide3/hdl_graph_slam into devel

Author: kenji koide

README.md

@@ -80,7 +80,7 @@ sudo apt-get install ros-indigo-geodesy ros-indigo-pcl_ros ros-indigo-nmea-msgs
 # for kinetic
 sudo apt-get install ros-kinetic-geodesy ros-kinetic-pcl_ros ros-kinetic-nmea-msgs ros-kinetic-libg2o
 # for melodic
-sudo apt-get install ros-melodic-geodesy ros-melodic-pcl_ros ros-melodic-nmea-msgs ros-melodic-libg2o
+sudo apt-get install ros-melodic-geodesy ros-melodic-pcl-ros ros-melodic-nmea-msgs ros-melodic-libg2o
 
 cd catkin_ws/src
 git clone https://github.com/koide3/ndt_omp.git

apps/hdl_graph_slam_nodelet.cpp

@@ -423,7 +423,7 @@ class HdlGraphSlamNodelet : public nodelet::Nodelet {
 
       if(enable_imu_acceleration) {
         Eigen::MatrixXd info = Eigen::MatrixXd::Identity(3, 3) / imu_acceleration_edge_stddev;
-        g2o::OptimizableGraph::Edge* edge = graph_slam->add_se3_prior_vec_edge(keyframe->node, Eigen::Vector3d::UnitZ(), *keyframe->acceleration, info);
+        g2o::OptimizableGraph::Edge* edge = graph_slam->add_se3_prior_vec_edge(keyframe->node, -Eigen::Vector3d::UnitZ(), *keyframe->acceleration, info);
         graph_slam->add_robust_kernel(edge, private_nh.param<std::string>("imu_acceleration_edge_robust_kernel", "NONE"), private_nh.param<double>("imu_acceleration_edge_robust_kernel_size", 1.0));
       }
       updated = true;

package.xml

@@ -17,6 +17,7 @@
   <build_depend>nmea_msgs</build_depend>
   <build_depend>sensor_msgs</build_depend>
   <build_depend>message_generation</build_depend>
+  <build_depend>libg2o</build_depend>
 
   <run_depend>ndt_omp</run_depend>
   <run_depend>pcl_ros</run_depend>