26 lines
869 B
YAML
26 lines
869 B
YAML
common:
|
|
lid_topic: "/velodyne_points"
|
|
imu_topic: "/imu/data"
|
|
time_sync_en: false # ONLY turn on when external time synchronization is really not possible
|
|
|
|
preprocess:
|
|
lidar_type: 2 # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR,
|
|
scan_line: 32
|
|
blind: 4
|
|
|
|
mapping:
|
|
acc_cov: 0.1
|
|
gyr_cov: 0.1
|
|
b_acc_cov: 0.0001
|
|
b_gyr_cov: 0.0001
|
|
fov_degree: 180
|
|
det_range: 100.0
|
|
extrinsic_T: [ 0, 0, 0.28]
|
|
extrinsic_R: [ 1, 0, 0,
|
|
0, 1, 0,
|
|
0, 0, 1]
|
|
|
|
publish:
|
|
scan_publish_en: true # '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.
|
|
scan_bodyframe_pub_en: true # output the point cloud scans in IMU-body-frame |