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fix the scan publish switch

main
xw 2021-07-14 14:19:34 -04:00
parent 67f0f6b6da
commit 669eedfc7d
9 changed files with 14 additions and 22 deletions
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6
config/avia.yaml
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@ -21,6 +21,6 @@ mapping:
0, 0, 1] 0, 0, 1]
publish: publish:
scan_publish_en: true # 'false' will close all the point cloud output scan_publish_en: 1 # 'false' will close all the point cloud output
dense_publish_en: ture # false will low down the points number in a global-frame point clouds scan. dense_publish_en: 1 # false will low down the points number in a global-frame point clouds scan.
scan_bodyframe_pub_en: true # output the point cloud scans in IMU-body-frame scan_bodyframe_pub_en: 1 # output the point cloud scans in IMU-body-frame

6
config/horizon.yaml
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@ -21,6 +21,6 @@ mapping:
0, 0, 1] 0, 0, 1]
publish: publish:
scan_publish_en: true # 'false' will close all the point cloud output scan_publish_en: 1 # 'false' will close all the point cloud output
dense_publish_en: ture # false will low down the points number in a global-frame point clouds scan. dense_publish_en: 1 # false will low down the points number in a global-frame point clouds scan.
scan_bodyframe_pub_en: true # output the point cloud scans in IMU-body-frame scan_bodyframe_pub_en: 1 # output the point cloud scans in IMU-body-frame

6
config/ouster64.yaml
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@ -21,6 +21,6 @@ mapping:
0, 0, 1] 0, 0, 1]
publish: publish:
scan_publish_en: true # 'false' will close all the point cloud output scan_publish_en: 1 # 'false' will close all the point cloud output
dense_publish_en: ture # false will low down the points number in a global-frame point clouds scan. dense_publish_en: 1 # false will low down the points number in a global-frame point clouds scan.
scan_bodyframe_pub_en: true # output the point cloud scans in IMU-body-frame scan_bodyframe_pub_en: 1 # output the point cloud scans in IMU-body-frame

6
config/velodyne.yaml
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@ -21,6 +21,6 @@ mapping:
0, 0, 1] 0, 0, 1]
publish: publish:
scan_publish_en: true # 'false' will close all the point cloud output scan_publish_en: 1 # 'false' will close all the point cloud output
dense_publish_en: ture # false will low down the points number in a global-frame point clouds scan. dense_publish_en: 1 # false will low down the points number in a global-frame point clouds scan.
scan_bodyframe_pub_en: true # output the point cloud scans in IMU-body-frame scan_bodyframe_pub_en: 1 # output the point cloud scans in IMU-body-frame

4
launch/mapping_avia.launch
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@ -6,10 +6,8 @@
<rosparam command="load" file="$(find fast_lio)/config/avia.yaml" /> <rosparam command="load" file="$(find fast_lio)/config/avia.yaml" />
<param name="feature_extract_enable" type="bool" value="0"/> <param name="feature_extract_enable" type="bool" value="0"/>
<param name="point_filter_num" type="int" value="3"/> <param name="point_filter_num" type="int" value="1"/>
<param name="max_iteration" type="int" value="3" /> <param name="max_iteration" type="int" value="3" />
<param name="scan_publish_enable" type="bool" value="1" />
<param name="dense_publish_enable" type="bool" value="1" />
<param name="filter_size_surf" type="double" value="0.5" /> <param name="filter_size_surf" type="double" value="0.5" />
<param name="filter_size_map" type="double" value="0.5" /> <param name="filter_size_map" type="double" value="0.5" />
<param name="cube_side_length" type="double" value="1000" /> <param name="cube_side_length" type="double" value="1000" />

2
launch/mapping_horizon.launch
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@ -7,8 +7,6 @@
<param name="feature_extract_enable" type="bool" value="0"/> <param name="feature_extract_enable" type="bool" value="0"/>
<param name="point_filter_num" type="int" value="3"/> <param name="point_filter_num" type="int" value="3"/>
<param name="max_iteration" type="int" value="3" />
<param name="scan_publish_enable" type="bool" value="1" />
<param name="dense_publish_enable" type="bool" value="1" /> <param name="dense_publish_enable" type="bool" value="1" />
<param name="filter_size_surf" type="double" value="0.5" /> <param name="filter_size_surf" type="double" value="0.5" />
<param name="filter_size_map" type="double" value="0.5" /> <param name="filter_size_map" type="double" value="0.5" />

2
launch/mapping_ouster64.launch
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@ -8,8 +8,6 @@
<param name="feature_extract_enable" type="bool" value="0"/> <param name="feature_extract_enable" type="bool" value="0"/>
<param name="point_filter_num" type="int" value="4"/> <param name="point_filter_num" type="int" value="4"/>
<param name="max_iteration" type="int" value="3" /> <param name="max_iteration" type="int" value="3" />
<param name="scan_publish_enable" type="bool" value="1" />
<param name="dense_publish_enable" type="bool" value="1" />
<param name="filter_size_surf" type="double" value="0.5" /> <param name="filter_size_surf" type="double" value="0.5" />
<param name="filter_size_map" type="double" value="0.5" /> <param name="filter_size_map" type="double" value="0.5" />
<param name="cube_side_length" type="double" value="1000" /> <param name="cube_side_length" type="double" value="1000" />

2
launch/mapping_velodyne.launch
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@ -8,8 +8,6 @@
<param name="feature_extract_enable" type="bool" value="0"/> <param name="feature_extract_enable" type="bool" value="0"/>
<param name="point_filter_num" type="int" value="4"/> <param name="point_filter_num" type="int" value="4"/>
<param name="max_iteration" type="int" value="3" /> <param name="max_iteration" type="int" value="3" />
<param name="scan_publish_enable" type="bool" value="1" />
<param name="dense_publish_enable" type="bool" value="1" />
<param name="filter_size_surf" type="double" value="0.5" /> <param name="filter_size_surf" type="double" value="0.5" />
<param name="filter_size_map" type="double" value="0.5" /> <param name="filter_size_map" type="double" value="0.5" />
<param name="cube_side_length" type="double" value="1000" /> <param name="cube_side_length" type="double" value="1000" />

2
src/laserMapping.cpp
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@ -711,7 +711,7 @@ int main(int argc, char** argv)
ros::NodeHandle nh; ros::NodeHandle nh;
nh.param<bool>("publish/scan_publish_en",scan_pub_en,1); nh.param<bool>("publish/scan_publish_en",scan_pub_en,1);
nh.param<bool>("publish/dense_publish_en",dense_pub_en,0); nh.param<bool>("publish/dense_publish_en",dense_pub_en,1);
nh.param<bool>("publish/scan_bodyframe_pub_en",scan_body_pub_en,1); nh.param<bool>("publish/scan_bodyframe_pub_en",scan_body_pub_en,1);
nh.param<int>("max_iteration",NUM_MAX_ITERATIONS,4); nh.param<int>("max_iteration",NUM_MAX_ITERATIONS,4);
nh.param<string>("map_file_path",map_file_path,""); nh.param<string>("map_file_path",map_file_path,"");