Using a rotated IMU to build 2d maps

[seanxu112]

I have zedm camera which comes with an imu. I rotated the camera (with imu) -pi/2 along the y-axis, so that it faces upwards, and we linear acceleration about:

linear_acceleration:
x: 10.2479972839
y: -0.378756403923
z: 0.0886961147189

which makes sense. I have also made sure that, in tf, imu_link is rotated w.r.t base_link. However, when I set the tracking frame to be imu_link instead of base_link(which gives an error if I set it to base_link with imu data) the map and the laser scan are on orthogonal planes. I wonder if I have to set project_to_2d = true. If so, is there any potential problems? The map seems fine, but the visualization just throws me off.

The base_link is on the bottom. laser_frame is not rotated w.r.t. base_link and in front of imu_link. X-axis of imu_link is pointing up.

This is my tf file and my_robot.lua file:

my_robot_lua.txt
setup_robot_tf.txt