robin
d0a113ee18
- Rename the published frame_id from camera_init to odom everywhere in laserMapping.cpp (child stays aft_mapped, matching the URDF root) so AMCL's map->odom broadcast no longer conflicts with a separate static camera_init->odom bridge in fori_ws's Nav2 launch - Set extrinsic_R for the LiDAR's actual 20-degree nose-down mounting pitch (was identity) - Increase point_filter_num and filter_size_surf/map for lighter point cloud load
53 lines
2.1 KiB
YAML
53 lines
2.1 KiB
YAML
/**:
|
|
ros__parameters:
|
|
feature_extract_enable: false
|
|
point_filter_num: 7
|
|
max_iteration: 3
|
|
filter_size_surf: 0.8
|
|
filter_size_map: 0.8
|
|
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 ]
|
|
# 라이다가 전방 지면을 보도록 20도 nose-down(pitch)으로 장착됨.
|
|
# extrinsic_R은 "라이다 자세를 IMU/바디 프레임 기준으로" 표현(FAST-LIO
|
|
# README: extrinsic = LiDAR pose in IMU frame). Ry(+20deg): forward(+X)가
|
|
# -Z(아래) 쪽으로 기움 -> nose-down과 일치.
|
|
extrinsic_R: [ 0.9396926, 0.0, 0.3420201,
|
|
0.0, 1.0, 0.0,
|
|
-0.3420201, 0.0, 0.9396926 ]
|
|
|
|
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
|