From 478d436813b966df94fb91dd759f477f1a246296 Mon Sep 17 00:00:00 2001 From: zfc-zfc <625257073@qq.com> Date: Fri, 18 Aug 2023 16:23:52 +0800 Subject: [PATCH] Add launch file for mid360. --- config/mid360.yaml | 35 +++++++++++++++++++++++++++++++++++ launch/mapping_mid360.launch | 21 +++++++++++++++++++++ 2 files changed, 56 insertions(+) create mode 100644 config/mid360.yaml create mode 100644 launch/mapping_mid360.launch diff --git a/config/mid360.yaml b/config/mid360.yaml new file mode 100644 index 0000000..20c0e01 --- /dev/null +++ b/config/mid360.yaml @@ -0,0 +1,35 @@ +common: + lid_topic: "/livox/lidar" + imu_topic: "/livox/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: 1 # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR, + scan_line: 4 + blind: 0.5 + +mapping: + acc_cov: 0.1 + gyr_cov: 0.1 + b_acc_cov: 0.0001 + b_gyr_cov: 0.0001 + fov_degree: 360 + det_range: 100.0 + extrinsic_est_en: false # true: enable the online estimation of IMU-LiDAR extrinsic + extrinsic_T: [ -0.011, -0.02329, 0.04412 ] + extrinsic_R: [ 1, 0, 0, + 0, 1, 0, + 0, 0, 1] + +publish: + path_en: false + 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. diff --git a/launch/mapping_mid360.launch b/launch/mapping_mid360.launch new file mode 100644 index 0000000..0fe04fd --- /dev/null +++ b/launch/mapping_mid360.launch @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + +