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Merge pull request from zfc-zfc/main 

Add new parameter: time offset between LiDAR and IMU.
main
Yixi Cai 2022-08-24 21:33:56 +08:00 committed by GitHub
parent 342d36157e 99c462a36b
commit a56a0c544a
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GPG Key ID: 4AEE18F83AFDEB23
5 changed files with 15 additions and 3 deletions

4
config/avia.yaml
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@ -2,6 +2,8 @@ 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,
@ -30,4 +32,4 @@ publish:
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.
# -1 : all frames will be saved in ONE pcd file, may lead to memory crash when having too much frames.

4
config/horizon.yaml
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@ -2,6 +2,8 @@ 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,
@ -30,4 +32,4 @@ publish:
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.
# -1 : all frames will be saved in ONE pcd file, may lead to memory crash when having too much frames.

2
config/ouster64.yaml
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@ -2,6 +2,8 @@ common:
lid_topic: "/os_cloud_node/points"
imu_topic: "/os_cloud_node/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: 3 # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR,

4
config/velodyne.yaml
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@ -2,7 +2,9 @@ common:
lid_topic: "/velodyne_points"
imu_topic: "/imu/data"
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: 2 # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR,
scan_line: 32

4
src/laserMapping.cpp
View File

@ -76,6 +76,7 @@ bool runtime_pos_log = false, pcd_save_en = false, time_sync_en = false, extri
float res_last[100000] = {0.0};
float DET_RANGE = 300.0f;
const float MOV_THRESHOLD = 1.5f;
double time_diff_lidar_to_imu = 0.0;
mutex mtx_buffer;
condition_variable sig_buffer;
@ -343,6 +344,8 @@ void imu_cbk(const sensor_msgs::Imu::ConstPtr &msg_in)
ros::Time().fromSec(timediff_lidar_wrt_imu + msg_in->header.stamp.toSec());
}
msg->header.stamp = ros::Time().fromSec(msg_in->header.stamp.toSec() - time_diff_lidar_to_imu);
double timestamp = msg->header.stamp.toSec();
mtx_buffer.lock();
@ -760,6 +763,7 @@ int main(int argc, char** argv)
nh.param<string>("common/lid_topic",lid_topic,"/livox/lidar");
nh.param<string>("common/imu_topic", imu_topic,"/livox/imu");
nh.param<bool>("common/time_sync_en", time_sync_en, false);
nh.param<double>("common/time_offset_lidar_to_imu", time_diff_lidar_to_imu, 0.0);
nh.param<double>("filter_size_corner",filter_size_corner_min,0.5);
nh.param<double>("filter_size_surf",filter_size_surf_min,0.5);
nh.param<double>("filter_size_map",filter_size_map_min,0.5);