How do you create the lidar-imu-image data?

[CanCanZeng]

Hi, I watched your video, it's very impressive!
But I'm not familiar with ROS, I don't know how to create the simulated data, is there any blog or teach documentation?

By the way, I guess your vio is not running well on lvi-sam, since I see the vio point cloud is always behind the robot, but from the image, I think the vio point cloud should be in front of the robot. This maybe ascribed to the configuration in params_camera.yaml, lidar_to_cam_* parameters. I also run into this problem like many other researchers TixiaoShan/LVI-SAM#19 and TixiaoShan/LVI-SAM#21