admin/Point-LIO_ROS2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

modify the way to synchronize the time

Browse Source
This commit is contained in:
Joanna-HE
2024-05-18 03:50:17 -04:00
parent 97e2a808b5
commit 1eb1822822
8 changed files with 56 additions and 38 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
config/avia.yaml
View File

@@ -34,7 +34,7 @@ mapping:
match_s: 81
ivox_grid_resolution: 2.0
gravity: [0.0, 0.0, -9.810] # [0.0, 9.810, 0.0] # # [0.0, 0.0, -9.787561] # gvins #
gravity_init: [0.0, 0.0, -9.810] # preknown gravity for unstationary start in the initial IMU frame
gravity_init: [0.0, 0.0, -9.810] # preknown gravity in the initial IMU frame for unstationary start or in the initial LiDAR frame for using without IMU
extrinsic_T: [ 0.04165, 0.02326, -0.0284 ] # avia # [0.011, 0.02329, -0.04412] # mid360
extrinsic_R: [ 1, 0, 0,
0, 1, 0,

1
config/horizon.yaml
View File

@@ -34,6 +34,7 @@ mapping:
match_s: 81
ivox_grid_resolution: 2.0
gravity: [0.0, 0.0, -9.810] # preknown gravity, use when imu_en is false or start from a non-stationary state
gravity_init: [0.0, 0.0, -9.810] # preknown gravity in the initial IMU frame for unstationary start or in the initial LiDAR frame for using without IMU
extrinsic_T: [ 0.05512, 0.02226, -0.0297 ]
extrinsic_R: [ 1, 0, 0,
0, 1, 0,

1
config/ouster64.yaml
View File

@@ -34,6 +34,7 @@ mapping:
match_s: 81
ivox_grid_resolution: 2.0
gravity: [0.0, 0.0, -9.810] # preknown gravity, use when imu_en is false or start from a non-stationary state
gravity_init: [0.0, 0.0, -9.810] # preknown gravity in the initial IMU frame for unstationary start or in the initial LiDAR frame for using without IMU
extrinsic_T: [0.0, 0.0, 0.0]
extrinsic_R: [ 1, 0, 0,
0, 1, 0,

1
config/velody16.yaml
View File

@@ -34,6 +34,7 @@ mapping:
match_s: 81
ivox_grid_resolution: 2.0
gravity: [0.0, 0.0, -9.810] # [-0.30, 0.880, -9.76] # liosam [0.0, 9.810, 0.0] # # preknown gravity, use when imu_en is false or start from a non-stationary state
gravity_init: [0.0, 0.0, -9.810] # preknown gravity in the initial IMU frame for unstationary start or in the initial LiDAR frame for using without IMU
extrinsic_T: [ 0, 0, 0.28] # ulhk # [-0.5, 1.4, 1.5] # utbm
# extrinsic_R: [ 0, 1, 0,
# -1, 0, 0,