Simon-Leung
commented
2 weeks ago yaml
common:
lid_topic: "/vanjee_points720_16"
imu_topic: "/vanjee_lidar_imu_packets"
#NCLT
# lid_topic: "/points_raw"
# imu_topic: "/imu_raw"
#KITTI
# lid_topic: "/kitti/velo/pointcloud"
# imu_topic: "/kitti/oxts/imu"
#RS LiDar
# lid_topic: "/rslidar"
# imu_topic: "/imu"
time_sync_en: false # ONLY turn on when external time synchronization is really not possible
preprocess:
lidar_type: 5 # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR,
scan_line: 16
scan_rate: 20 # only need to be set for velodyne, unit: Hz,
blind: 1
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_est_en: true # true: enable the online estimation of IMU-LiDAR extrinsic,
extrinsic_T: [ 0, 0, 0]
extrinsic_R: [ 1, 0, 0,
0, 1, 0,
0, 0, 1]
publish:
path_en: true
scan_publish_en: true # false: close all the point cloud output
dense_publish_en: false # false: low down the points number in a global-frame point clouds scan.
scan_bodyframe_pub_en: true # true: output the point cloud scans in IMU-body-frame
pcd_save:
pcd_save_en: true
interval: -1 # how many LiDAR frames saved in each pcd file;
# -1 : all frames will be saved in ONE pcd file, may lead to memory crash when having too much frames.
# voxel filter paprams
odometrySurfLeafSize: 0.2 # default: 0.4 - outdoor, 0.2 - indoor
mappingCornerLeafSize: 0.1 # default: 0.2 - outdoor, 0.1 - indoor
mappingSurfLeafSize: 0.2 # default: 0.4 - outdoor, 0.2 - indoor
# robot motion constraint (in case you are using a 2D robot)
z_tollerance: 1000 # meters
rotation_tollerance: 1000 # radians
# CPU Params
numberOfCores: 16 # number of cores for mapping optimization
mappingProcessInterval: 0.15 # seconds, regulate mapping frequency
# Surrounding map
surroundingkeyframeAddingDistThreshold: 2.0 # meters, regulate keyframe adding threshold
surroundingkeyframeAddingAngleThreshold: 0.2 # radians, regulate keyframe adding threshold
surroundingKeyframeDensity: 1.0 # meters, downsample surrounding keyframe poses
surroundingKeyframeSearchRadius: 50.0 # meters, within n meters scan-to-map optimization (when loop closure disabled)
# Loop closure
loopClosureEnableFlag: true # use loopclousre or not
loopClosureFrequency: 1.0 # Hz, regulate loop closure constraint add frequency
surroundingKeyframeSize: 50 # submap size (when loop closure enabled)
historyKeyframeSearchRadius: 10 # meters, key frame that is within n meters from current pose will be considerd for loop closure
historyKeyframeSearchTimeDiff: 1.0 #0.5# seconds, key frame that is n seconds older will be considered for loop closure
historyKeyframeSearchNum: 30 #100# number of hostory key frames will be fused into a submap for loop closure
historyKeyframeFitnessScore: 0.1 # icp threshold, the smaller the better alignment
# Visualization
globalMapVisualizationSearchRadius: 1000.0 # meters, global map visualization radius
globalMapVisualizationPoseDensity: 10 # meters, global map visualization keyframe density
globalMapVisualizationLeafSize: 1.0 # meters, global map visualization cloud density
# visual iktree_map
visulize_IkdtreeMap: false
# visual iktree_map
recontructKdTree: false
# Export settings
savePCD: true # https://github.com/TixiaoShan/LIO-SAM/issues/3
savePCDDirectory: "/map" # in your home folder, starts and ends with "/". Warning: the code deletes "LOAM" folder then recreates it. See "mapOptimization" for implementationlaunch
<launch>
<!-- Launch file for velodyne16 VLP-16 LiDAR -->
<arg name="rviz" default="true" />
<rosparam command="load" file="$(find fast_lio_sam)/config/wlr720.yaml" />
<param name="feature_extract_enable" type="bool" value="1"/>
<param name="point_filter_num" type="int" value="4"/>
<param name="max_iteration" type="int" value="3" />
<!-- 单帧内，畸变纠正后降采样的分辨率-->
<param name="filter_size_surf" type="double" value="0.5" />
<param name="filter_size_map" type="double" value="0.5" />
<param name="cube_side_length" type="double" value="1000" />
<param name="runtime_pos_log_enable" type="bool" value="0" />
<node pkg="fast_lio_sam" type="fastlio_sam_mapping" name="laserMapping" output="screen" />
<group if="$(arg rviz)">
<node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find fast_lio_sam)/rviz_cfg/loam_livox.rviz" />
</group>
</launch>
PCL版本1.8，GTSAM版本4.0.0
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