m5p3nc3r/agv_pro_ros2
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

feat(slam): add lidar SLAM and pointcloud processing packages

Browse Source
This commit is contained in:
X-lanni
2026-01-13 19:12:25 +08:00
parent dcb52622eb
commit ddef31d11a
140 changed files with 29546 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
FAST_LIO/launch/gdb_debug_example.launch
+22
View File
@@ -0,0 +1,22 @@
<launch>
<arg name="rviz" default="true" />
<node pkg="fast_lio" type="fastlio_mapping" name="laserMapping" output="screen" required="true" launch-prefix="gdb -ex run --args">
<param name="imu_topic" type="string" value="/livox/imu" />
<param name="map_file_path" type="string" value=" " />
<param name="max_iteration" type="int" value="4" />
<param name="dense_map_enable" type="bool" value="1" />
<param name="fov_degree" type="double" value="75" />
<param name="filter_size_corner" type="double" value="0.2" />
<param name="filter_size_surf" type="double" value="0.2" />
<param name="filter_size_map" type="double" value="0.5" />
<param name="runtime_pos_log_enable" type="bool" value="1" />
<param name="cube_side_length" type="double" value="2000" />
</node>
<!-- <group if="$(arg rviz)">
<node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find fast_lio)/rviz_cfg/loam_livox.rviz" />
</group> -->
</launch>