26 lines
865 B
YAML
26 lines
865 B
YAML
common:
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lid_topic: "/livox/lidar"
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imu_topic: "/livox/imu"
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time_sync_en: false # ONLY turn on when external time synchronization is really not possible
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preprocess:
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lidar_type: 1 # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR,
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scan_line: 6
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blind: 4
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mapping:
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acc_cov: 0.1
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gyr_cov: 0.1
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b_acc_cov: 0.0001
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b_gyr_cov: 0.0001
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fov_degree: 90
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det_range: 450.0
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extrinsic_T: [ 0.04165, 0.02326, -0.0284 ]
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extrinsic_R: [ 1, 0, 0,
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0, 1, 0,
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0, 0, 1]
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publish:
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scan_publish_en: 1 # 'false' will close all the point cloud output
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dense_publish_en: 1 # false will low down the points number in a global-frame point clouds scan.
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scan_bodyframe_pub_en: 1 # output the point cloud scans in IMU-body-frame |