robin
21fa46e802
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.
49 lines
1.7 KiB
YAML
49 lines
1.7 KiB
YAML
/**:
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ros__parameters:
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feature_extract_enable: false
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point_filter_num: 4
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max_iteration: 3
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filter_size_surf: 0.5
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filter_size_map: 0.5
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cube_side_length: 200.0
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runtime_pos_log_enable: false
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map_file_path: "./PCD/scans.pcd"
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common:
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lid_topic: "/livox/lidar"
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imu_topic: "/livox/imu"
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time_sync_en: false # Native fixed time offset locked on first frame
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time_offset_lidar_to_imu: 0.0
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preprocess:
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lidar_type: 1 # 1 for Livox serials LiDAR
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scan_line: 6
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blind: 0.6
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timestamp_unit: 3
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scan_rate: 10
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mapping:
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acc_cov: 0.1
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gyr_cov: 0.1
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b_acc_cov: 0.01
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b_gyr_cov: 0.001
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fov_degree: 360.0
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det_range: 50.0
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extrinsic_est_en: false
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extrinsic_T: [ -0.011, -0.02329, 0.04412 ]
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extrinsic_R: [ 1.0, 0.0, 0.0,
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0.0, 1.0, 0.0,
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0.0, 0.0, 1.0 ]
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publish:
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path_en: true # true: publish Path
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effect_map_en: false # true: publish Effects
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map_en: true # true: publish Map cloud
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scan_publish_en: true # false: close all the point cloud output
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dense_publish_en: false # false: disable dense cloud to reduce RViz lag
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scan_bodyframe_pub_en: false # false: disable body-frame scan publish
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pcd_save:
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pcd_save_en: false
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interval: -1 # -1: all frames saved in ONE pcd file when node exits cleanly
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