Davidchen comments

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                                            Davidchen

IMU intergration fail

> Thanks for your reply. Yes, It's 9-axis IMU , Here is the [ros2 bag ](https://drive.google.com/drive/folders/1jDW1jdpFIF3TQ4poORIGb1IGHzxSULUa)

> Do you know the tf between imu and lidar? Also, for the imu compound is referring to lego_loam, that could be a reference. https://github.com/RobustFieldAutonomyLab/LeGO-LOAM Sorry, i forgot about that,...

make error with opencv-3.4.0: fatal error: opencv2/xfeatures2d/cuda.hpp: No such file or directory

i met the same problem , i have no idea

InteractiveViewer should support rotation

i also need rotation feature +1 , come on !

The result path may hit the obs

i met the same problem for ackerman vehicle ![image](https://github.com/LiJiangnanBit/path_optimizer_2/assets/29396384/b4f8fd9f-4e2d-4d9b-94a5-478adc92868c)

The result path may hit the obs

seems like the issue was caused after reference path smoother, from the image i posted before , the second stage optimization after reference path ignored the upper bound and lower...

The result path may hit the obs

Thanks for your reply ! Yeah，you are totally right, but when i use this part in an dynamic Env, running at 10-20HZ, the reference point or the start_pose & dest-pose...