42 lines
1.8 KiB
XML
42 lines
1.8 KiB
XML
<launch>
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<arg name="rviz" default="true" />
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<param name="lidar_type" type="int" value="1"/>
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<param name="blind" type="double" value="0.5"/>
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<param name="inf_bound" type="double" value="10"/>
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<param name="N_SCANS" type="int" value="6"/>
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<param name="group_size" type="int" value="8"/>
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<param name="disA" type="double" value="0.01"/>
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<param name="disB" type="double" value="0.1"/>
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<param name="p2l_ratio" type="double" value="225"/>
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<param name="limit_maxmid" type="double" value="6.25"/>
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<param name="limit_midmin" type="double" value="6.25"/>
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<param name="limit_maxmin" type="double" value="3.24"/>
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<param name="jump_up_limit" type="double" value="170.0"/>
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<param name="jump_down_limit" type="double" value="8.0"/>
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<param name="cos160" type="double" value="160.0"/>
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<param name="edgea" type="double" value="2"/>
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<param name="edgeb" type="double" value="0.1"/>
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<param name="smallp_intersect" type="double" value="172.5"/>
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<param name="smallp_ratio" type="double" value="1.2"/>
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<param name="point_filter_num" type="int" value="5"/>
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<node pkg="fast_lio" type="loam_feat_extract" name="feature_extract" output="screen"/>
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<node pkg="fast_lio" type="loam_laserMapping" name="laserMapping" output="screen">
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<param name="map_file_path" type="string" value=" " />
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<param name="max_iteration" type="int" value="2" />
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<param name="dense_map_enable" type="bool" value="true" />
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<param name="fov_degree" type="double" value="80" />
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<param name="filter_size_corner" type="double" value="0.3" />
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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="0.2" />
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<param name="cube_side_length" type="double" value="6" />
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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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