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point-lio with grid map

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Joanna-HE
2024-01-18 08:54:06 -05:00
commit d4919a8c6a
70 changed files with 27659 additions and 0 deletions
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25
launch/gdb_debug_example.launch Executable file
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<launch>
<!-- Launch file for Livox AVIA LiDAR -->
<arg name="rviz" default="true" />
<node pkg="point_lio" type="pointlio_mapping" name="laserMapping" output="screen" required="true" launch-prefix="gdb -ex run --args">
<rosparam command="load" file="$(find point_lio)/config/avia.yaml" />
<param name="use_imu_as_input" type="bool" value="0"/> <!--change to 1 to use IMU as input of Point-LIO-->
<param name="prop_at_freq_of_imu" type="bool" value="1"/>
<param name="check_satu" type="bool" value="1"/>
<param name="init_map_size" type="int" value="10"/>
<param name="point_filter_num" type="int" value="1"/> <!--4, 3-->
<param name="space_down_sample" type="bool" value="1" />
<param name="filter_size_surf" type="double" value="0.3" /> <!--0.5, 0.3, 0.2, 0.15, 0.1-->
<param name="filter_size_map" type="double" value="0.2" /> <!--0.5, 0.3, 0.15, 0.1-->
<param name="ivox_nearby_type" type="int" value="6" /> <!--0.5, 0.3, 0.15, 0.1-->
<param name="runtime_pos_log_enable" type="bool" value="0" /> <!--1-->
</node>
<group if="$(arg rviz)">
<node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find point_lio)/rviz_cfg/loam_livox.rviz" />
</group>
launch-prefix="gdb -ex run --args"
</launch>

25
launch/mapping_avia.launch Executable file
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<launch>
<!-- Launch file for Livox AVIA LiDAR -->
<arg name="rviz" default="true" />
<node pkg="point_lio" type="pointlio_mapping" name="laserMapping" output="screen">
<rosparam command="load" file="$(find point_lio)/config/avia.yaml" />
<param name="use_imu_as_input" type="bool" value="0"/> <!--change to 1 to use IMU as input of Point-LIO-->
<param name="prop_at_freq_of_imu" type="bool" value="1"/>
<param name="check_satu" type="bool" value="1"/>
<param name="init_map_size" type="int" value="10"/>
<param name="point_filter_num" type="int" value="1"/> <!--4, 3-->
<param name="space_down_sample" type="bool" value="1" />
<param name="filter_size_surf" type="double" value="0.5" /> <!--0.5, 0.3, 0.2, 0.15, 0.1-->
<param name="filter_size_map" type="double" value="0.4" /> <!--0.5, 0.3, 0.15, 0.1-->
<param name="ivox_nearby_type" type="int" value="6" /> <!--0.5, 0.3, 0.15, 0.1-->
<param name="runtime_pos_log_enable" type="bool" value="0" /> <!--1-->
</node>
<group if="$(arg rviz)">
<node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find point_lio)/rviz_cfg/loam_livox.rviz" />
</group>
launch-prefix="valgrind"
</launch>

25
launch/mapping_horizon.launch Executable file
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<launch>
<!-- Launch file for Livox Horizon LiDAR -->
<arg name="rviz" default="true" />
<node pkg="point_lio" type="pointlio_mapping" name="laserMapping" output="screen">
<rosparam command="load" file="$(find point_lio)/config/horizon.yaml" />
<param name="use_imu_as_input" type="bool" value="0"/> <!--change to 1 to use IMU as input of Point-LIO-->
<param name="prop_at_freq_of_imu" type="bool" value="1"/>
<param name="check_satu" type="bool" value="1"/>
<param name="init_map_size" type="int" value="10"/>
<param name="point_filter_num" type="int" value="3"/> <!--1, 3-->
<param name="space_down_sample" type="bool" value="1" />
<param name="filter_size_surf" type="double" value="0.5" /> <!--0.5, 0.3, 0.2, 0.15, 0.1-->
<param name="filter_size_map" type="double" value="0.5" /> <!--0.5, 0.3, 0.15, 0.1-->
<param name="ivox_nearby_type" type="int" value="6" /> <!--0.5, 0.3, 0.15, 0.1-->
<param name="runtime_pos_log_enable" type="bool" value="0" /> <!--1-->
</node>
<group if="$(arg rviz)">
<node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find point_lio)/rviz_cfg/loam_livox.rviz" />
</group>
launch-prefix="gdb -ex run --args"
</launch>

25
launch/mapping_ouster64.launch Executable file
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<launch>
<!-- Launch file for Ouster OS2-64 LiDAR -->
<arg name="rviz" default="true" />
<node pkg="point_lio" type="pointlio_mapping" name="laserMapping" output="screen">
<rosparam command="load" file="$(find point_lio)/config/ouster64.yaml" />
<param name="use_imu_as_input" type="bool" value="0"/> <!--change to 1 to use IMU as input of Point-LIO-->
<param name="prop_at_freq_of_imu" type="bool" value="1"/>
<param name="check_satu" type="bool" value="1"/>
<param name="init_map_size" type="int" value="10"/>
<param name="point_filter_num" type="int" value="4"/> <!--4, 3-->
<param name="space_down_sample" type="bool" value="1" />
<param name="filter_size_surf" type="double" value="0.5" /> <!--0.5, 0.3, 0.2, 0.15, 0.1-->
<param name="filter_size_map" type="double" value="0.5" /> <!--0.5, 0.3, 0.15, 0.1-->
<param name="ivox_nearby_type" type="int" value="6" /> <!--0.5, 0.3, 0.15, 0.1-->
<param name="runtime_pos_log_enable" type="bool" value="0" /> <!--1-->
</node>
<group if="$(arg rviz)">
<node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find point_lio)/rviz_cfg/loam_livox.rviz" />
</group>
launch-prefix="gdb -ex run --args"
</launch>

25
launch/mapping_velody16.launch Executable file
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<launch>
<!-- Launch file for Velodyne16 VLP-16 LiDAR -->
<arg name="rviz" default="true" />
<node pkg="point_lio" type="pointlio_mapping" name="laserMapping" output="screen">
<rosparam command="load" file="$(find point_lio)/config/velody16.yaml" />
<param name="use_imu_as_input" type="bool" value="0"/> <!--change to 1 to use IMU as input of Point-LIO-->
<param name="prop_at_freq_of_imu" type="bool" value="1"/>
<param name="check_satu" type="bool" value="1"/>
<param name="init_map_size" type="int" value="10"/>
<param name="point_filter_num" type="int" value="4"/> <!--4, 3-->
<param name="space_down_sample" type="bool" value="1" />
<param name="filter_size_surf" type="double" value="0.5" /> <!--0.5, 0.3, 0.2, 0.15, 0.1-->
<param name="filter_size_map" type="double" value="0.5" /> <!--0.5, 0.3, 0.15, 0.1-->
<param name="ivox_nearby_type" type="int" value="6" /> <!--0.5, 0.3, 0.15, 0.1-->
<param name="runtime_pos_log_enable" type="bool" value="0" /> <!--1-->
</node>
<group if="$(arg rviz)">
<node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find point_lio)/rviz_cfg/loam_livox.rviz" />
</group>
launch-prefix="gdb -ex run --args"
</launch>