29 lines
1.2 KiB
XML
29 lines
1.2 KiB
XML
<launch>
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<arg name="rviz" default="true" />
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<node pkg="fast_lio" type="loam_feat_extract" name="feature_extract" output="log" />
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<param name="lidar_type" type="int" value="1"/>
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<param name="feature_extract_enable" type="bool" value="0"/>
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<param name="blind" type="double" value="1"/>
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<param name="point_filter_num" type="int" value="3"/>
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<node pkg="fast_lio" type="fastlio_mapping" name="laserMapping" output="screen" required="true" launch-prefix="gdb -ex run --args">
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<param name="imu_topic" type="string" value="/livox/imu" />
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<param name="map_file_path" type="string" value=" " />
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<param name="max_iteration" type="int" value="4" />
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<param name="dense_map_enable" type="bool" value="1" />
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<param name="fov_degree" type="double" value="75" />
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<param name="filter_size_corner" type="double" value="0.2" />
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<param name="filter_size_surf" type="double" value="0.2" />
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<param name="filter_size_map" type="double" value="0.5" />
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<param name="runtime_pos_log" type="bool" value="1" />
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<param name="cube_side_length" type="double" value="2000" />
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</node>
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<!-- <group if="$(arg rviz)">
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<node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find fast_lio)/rviz_cfg/loam_livox.rviz" />
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</group> -->
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</launch>
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