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dr_pose,\u000a车速中位 6.89 m/s / 最大 21.6 m/s)按四元数帧间差算 100ms 内转角:\u000a 中位 0.1263° -> 1.10 cm P90 0.3313° -> 2.90 cm\u000a P99 0.7755° -> 6.78 cm 最大 1.1158° -> 9.76 cm\u000a直行时转角趋零、误差趋零 —— 港口对位场景基本蠕行, 所以这个 bug 被掩盖了一年,\u000a干线车高速转弯才显现。\u000a\u000a刚体归属由定位侧确认: dr_pose=imu, imu_pose_raw_estimate=imu_raw,\u000avehicle/localization=base_ground。\u000a\u000a⚠️ config 侧一并改: config.yaml 与 imv/rslidar_config_all_in_one{,_offline}.yaml\u000a共 17 处 pose_frame_id 原为 base_ground(topic 全是 /msf/dr_pose), 改为 imu,\u000a注释同步写全三种映射。这些是港口车在用的配置, 下次部署后补偿结果会变化(变正确),\u000a涉及历史标注/建图数据一致性, 需与定位组和数据侧确认后再下发。\u000a\u000a源头是 rslidar_sdk_new 的 4cd98d4(2025-09-24, zhjfeng, feat_out:增加运动补偿处理),\u000a本仓库同款实现。rslidar_sdk_new 的 dev_ros2/rc_dev/dev 与 hesai_lidar 一并修正。\u000a\u000avia [HAPI](https://hapi.run)\u000a\u000aCo-Authored-By: HAPI \u000aCo-Authored-By: Claude Opus 5 (1M context) \u000aClaude-Session: https://claude.ai/code/session_017V8WSMEpax2mkbuxiXr7FK\u000a", "date" : "2026-09-10 05:52:45 -0400", "id" : 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"src/source/source_pointcloud_ros.hpp" ], "commitId" : "bf2ccb2aafaa849dcf63c9a588060325e5bdba3a", "timestamp" : 1789033864000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/xiaosonglan", "fullName" : "xiaosonglan" }, "authorEmail" : "xiaosonglan@gmail.com", "comment" : "fix: /msf/dr_pose 的 pose_frame_id 应为 imu, 不是 base_ground\u000a\u000apose_frame_id 决定 lookupTransform(pose_frame_id, frame_id_) 取到的\u000atrans_lidar_to_imu —— 即把点云搬到「位姿所在刚体」的外参, 所以它必须和\u000apose 话题描述的刚体对上:\u000a\u000a /msf/imu_pose_raw_estimate -> imu_raw (原本就对)\u000a /msf/dr_pose -> imu (原先错写成 base_ground)\u000a /vehicle/localization -> base_ground (原先没有这条分支)\u000a\u000a原先 dr_pose 被强制成 base_ground, 力臂差了整整 5.007m: AT002 车上 tf_static\u000a实测 base_ground->imu = (4.450, 0.760, 2.165) 且旋转差 0.000°, 即\u000aimu->lidar_front=(1.688,-0.780,0.810) vs base_ground->lidar_front=(6.138,-0.020,2.975)。\u000a\u000a补偿误差 ≈ 帧内转角 × 5.007m。用 AT002「直行+转弯」实包(2038 条 dr_pose,\u000a车速中位 6.89 m/s / 最大 21.6 m/s)按四元数帧间差算 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