wip: save pcb

src/sherpa/config/fastlio2_mid40.yaml

@@ -0,0 +1,48 @@
+/**:
+    ros__parameters:
+        feature_extract_enable: false
+        point_filter_num: 1
+        max_iteration: 25
+        filter_size_surf: 0.5
+        filter_size_map: 0.5
+        cube_side_length: 1000.0
+        runtime_pos_log_enable: false
+        map_file_path: "/home/timo/Downloads/scan.pcd"
+
+        common:
+            lid_topic:  "/livox/lidar"
+            imu_topic:  "/imu"
+            time_sync_en: false         # ONLY turn on when external time synchronization is really not possible
+            time_offset_lidar_to_imu: 0.0 # Time offset between lidar and IMU calibrated by other algorithms, e.g. LI-Init (can be found in README).
+                                        # This param will take effect no matter what time_sync_en is. So if the time offset is not known exactly, please set as 0.0
+
+        preprocess:
+            lidar_type: 0                # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR, 
+            scan_line: 1
+            timestamp_unit: 3            # the unit of time/t field in the PointCloud2 rostopic: 0-second, 1-milisecond, 2-microsecond, 3-nanosecond.
+            blind: 0.35
+
+        mapping:
+            acc_cov: 0.01
+            gyr_cov: 0.025
+            b_acc_cov: 0.001
+            b_gyr_cov: 0.00025
+            fov_degree:    38.4
+            det_range:     260.0
+            extrinsic_est_en:  false      # true: enable the online estimation of IMU-LiDAR extrinsic,
+            extrinsic_T: [ 0., 0., 0.05]
+            extrinsic_R: [ 1., 0., 0., 
+                        0., 1., 0., 
+                        0., 0., -1.]
+
+        publish:
+            path_en:  true
+            map_en: true
+            scan_publish_en:  true       # false: close all the point cloud output
+            dense_publish_en: true       # false: low down the points number in a global-frame point clouds scan.
+            scan_bodyframe_pub_en: true  # true: output the point cloud scans in IMU-body-frame
+
+        pcd_save:
+            pcd_save_en: true
+            interval: -1                 # how many LiDAR frames saved in each pcd file; 
+                                        # -1 : all frames will be saved in ONE pcd file, may lead to memory crash when having too much frames.