49 lines
2.2 KiB
YAML
49 lines
2.2 KiB
YAML
/**:
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ros__parameters:
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feature_extract_enable: false
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point_filter_num: 1
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max_iteration: 25
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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: 1000.0
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runtime_pos_log_enable: false
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map_file_path: "/home/timo/Downloads/scan.pcd"
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common:
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lid_topic: "/livox/lidar"
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imu_topic: "/imu"
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time_sync_en: false # ONLY turn on when external time synchronization is really not possible
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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).
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# 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
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preprocess:
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lidar_type: 0 # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR,
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scan_line: 1
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timestamp_unit: 3 # the unit of time/t field in the PointCloud2 rostopic: 0-second, 1-milisecond, 2-microsecond, 3-nanosecond.
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blind: 0.35
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mapping:
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acc_cov: 0.01
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gyr_cov: 0.025
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b_acc_cov: 0.001
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b_gyr_cov: 0.00025
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fov_degree: 38.4
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det_range: 260.0
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extrinsic_est_en: false # true: enable the online estimation of IMU-LiDAR extrinsic,
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extrinsic_T: [ 0., 0., 0.05]
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extrinsic_R: [ 1., 0., 0.,
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0., 1., 0.,
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0., 0., -1.]
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publish:
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path_en: true
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map_en: true
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scan_publish_en: true # false: close all the point cloud output
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dense_publish_en: true # false: low down the points number in a global-frame point clouds scan.
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scan_bodyframe_pub_en: true # true: output the point cloud scans in IMU-body-frame
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pcd_save:
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pcd_save_en: true
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interval: -1 # how many LiDAR frames saved in each pcd file;
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# -1 : all frames will be saved in ONE pcd file, may lead to memory crash when having too much frames.
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