Initial commit: FAST-LIO ROS2 workspace for duru_lio

Clean up config/rviz assets for MID360S-only deployment and split run scripts by role (headless LIO via ssh, rviz-only on the local monitor, and combined run) so mapping.launch.py no longer needs config_file passed explicitly.
2026-08-20 14:52:36 +09:00
commit 21fa46e802
39 changed files with 11895 additions and 0 deletions
@@ -0,0 +1,48 @@
+/**:
+    ros__parameters:
+        feature_extract_enable: false
+        point_filter_num: 4
+        max_iteration: 3
+        filter_size_surf: 0.5
+        filter_size_map: 0.5
+        cube_side_length: 200.0
+        runtime_pos_log_enable: false
+        map_file_path: "./PCD/scans.pcd"
+
+        common:
+            lid_topic:  "/livox/lidar"
+            imu_topic:  "/livox/imu"
+            time_sync_en: false         # Native fixed time offset locked on first frame
+            time_offset_lidar_to_imu: 0.0
+
+        preprocess:
+            lidar_type: 1                # 1 for Livox serials LiDAR
+            scan_line:  6
+            blind: 0.6
+            timestamp_unit: 3
+            scan_rate: 10
+
+        mapping:
+            acc_cov: 0.1
+            gyr_cov: 0.1
+            b_acc_cov: 0.01
+            b_gyr_cov: 0.001
+            fov_degree:    360.0
+            det_range:     50.0
+            extrinsic_est_en:  false
+            extrinsic_T: [ -0.011, -0.02329, 0.04412 ]
+            extrinsic_R: [ 1.0, 0.0, 0.0,
+                           0.0, 1.0, 0.0,
+                           0.0, 0.0, 1.0 ]
+
+        publish:
+            path_en: true                # true: publish Path
+            effect_map_en: false         # true: publish Effects
+            map_en: true                 # true: publish Map cloud
+            scan_publish_en:  true       # false: close all the point cloud output
+            dense_publish_en: false      # false: disable dense cloud to reduce RViz lag
+            scan_bodyframe_pub_en: false # false: disable body-frame scan publish
+
+        pcd_save:
+            pcd_save_en: false
+            interval: -1                 # -1: all frames saved in ONE pcd file when node exits cleanly