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

2026-01-13 19:12:25 +08:00
parent dcb52622eb
commit ddef31d11a
140 changed files with 29546 additions and 0 deletions
@@ -0,0 +1,12 @@
+pcd2pgm:
+  ros__parameters:
+    pcd_file: /home/elephant/agv_pro_ros2/src/point_lio_ros2/PCD/scans.pcd
+    odom_to_lidar_odom: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+    # odom_to_lidar_odom: [-0.16, 0.0, -0.18, -0.523599, 0.0, -1.5707963]
+    flag_pass_through: false
+    map_resolution: 0.04
+    map_topic_name: map
+    thre_radius: 0.1
+    thre_z_max: 1.3
+    thre_z_min: 0.3
+    thres_point_count: 10