X-lanni
59 lines
3.3 KiB
YAML
59 lines
3.3 KiB
YAML
/**:
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ros__parameters:
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common:
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lid_topic: "/livox/lidar"
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imu_topic: "/livox/imu"
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con_frame: false # true: if you need to combine several LiDAR frames into one
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con_frame_num: 1 # the number of frames combined
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cut_frame: false # true: if you need to cut one LiDAR frame into several subframes
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cut_frame_time_interval: 0.1 # should be integral fraction of 1 / LiDAR frequency
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time_lag_imu_to_lidar: 0.0 # Time offset between LiDAR and IMU calibrated by other algorithms, e.g., LI-Init (find in Readme),
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# the timestamp of IMU is transferred from the current timeline to LiDAR's timeline by subtracting this value
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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: 4
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timestamp_unit: 3 # the unit of time/t field in the PointCloud2 rostopic: 0-second, 1-milisecond, 2-microsecond, 3-nanosecond.
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blind: 0.5
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mapping:
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imu_en: true
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start_in_aggressive_motion: false # if true, a preknown gravity should be provided in following gravity_init
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extrinsic_est_en: false # for aggressive motion, set this variable false
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imu_time_inte: 0.005 # = 1 / frequency of IMU
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satu_acc: 3.0 # the saturation value of IMU's acceleration. not related to the units
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satu_gyro: 35.0 # the saturation value of IMU's angular velocity. not related to the units
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acc_norm: 1.0 # 1.0 for g as unit, 9.81 for m/s^2 as unit of the IMU's acceleration
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lidar_meas_cov: 0.01 # 0.001
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acc_cov_output: 500.0
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gyr_cov_output: 1000.0
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b_acc_cov: 0.0001
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b_gyr_cov: 0.0001
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imu_meas_acc_cov: 0.01 #0.1 # 2
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imu_meas_omg_cov: 0.01 #0.1 # 2
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gyr_cov_input: 0.01 # for IMU as input model
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acc_cov_input: 0.1 # for IMU as input model
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plane_thr: 0.1 # 0.05, the threshold for plane criteria, the smaller, the flatter a plane
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match_s: 81.0
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fov_degree: 360.0
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det_range: 100.0
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gravity_align: true # true to align the z axis of world frame with the direction of gravity, and the gravity direction should be specified below
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gravity: [ 0.0, 0.0, -9.810 ] # [0.0, 9.810, 0.0] # gravity to be aligned
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gravity_init: [ 0.0, 0.0, -9.810 ] # [0.0, 9.810, 0.0] # # preknown gravity in the first IMU body frame, use when imu_en is false or start from a non-stationary state
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extrinsic_T: [ -0.011, -0.02329, 0.04412 ]
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extrinsic_R: [ 1.0, 0.0, 0.0,
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0.0, 1.0, 0.0,
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0.0, 0.0, 1.0 ]
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odometry:
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publish_odometry_without_downsample: false
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publish:
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path_en: true # false: close the path output
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scan_publish_en: true # false: close all the point cloud output
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scan_bodyframe_pub_en: false # true: output the point cloud scans in IMU-body-frame
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pcd_save:
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pcd_save_en: false
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interval: -1 # how many LiDAR frames saved in each pcd file;
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# -1 : all frames will be saved in ONE pcd file, may lead to memory crash when having too much frames. |