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Update README.md

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Cris.Wei 2020-11-01 13:31:51 +08:00 committed by GitHub
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@ -46,11 +46,8 @@ Clone the repository and catkin_make:
catkin_make
source devel/setup.bash
```
*Remarks:*
- If you want to save the pcd file please add map_file_path in launch file.
## 3. Directly run
### 3.1 For indoor environments and high LiDAR sample rate (20-100hz)
### 3.1 For indoor environments and high frame-rate (such as 100hz)
Connect to your PC to Livox Avia LiDAR by following [Livox-ros-driver installation](https://github.com/Livox-SDK/livox_ros_driver), then
```
....
@ -58,6 +55,8 @@ Connect to your PC to Livox Avia LiDAR by following [Livox-ros-driver installat
roslaunch livox_ros_driver livox_lidar_msg.launch
```
*Remarks:*
- If you want to change the frame rate, please modify the **publish_freq** parameter in the [livox_lidar_msg.launch](https://github.com/Livox-SDK/livox_ros_driver/blob/master/livox_ros_driver/launch/livox_lidar_msg.launch) of [Livox-ros-driver](https://github.com/Livox-SDK/livox_ros_driver) before make the livox_ros_driver pakage.
### 3.2 For outdoor environments
Connect to your PC to Livox Avia LiDAR following [Livox-ros-driver installation](https://github.com/Livox-SDK/livox_ros_driver), then
@ -90,7 +89,7 @@ roslaunch fast_lio mapping_avia_outdoor.launch
rosbag play YOUR_DOWNLOADED.bag
```
### 4.3 High-rate rosbag (Livox Avia LiDAR sampled at 100Hz)
### 4.3 High-rate rosbag (Livox Avia LiDAR with 100Hz frame-rate)
Download [high_rate_avia](https://drive.google.com/file/d/1UM6O3PRN3b730ZeuvKKT3yuOLNQuz8Yf/view?usp=sharing) and then
```