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uavfly
2025-11-15 21:59:40 +08:00
parent a6f679d2ed
commit fd0ac1c6d6
2 changed files with 9 additions and 11 deletions
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14
config/mid360.yaml
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@@ -32,11 +32,11 @@
imu_time_inte: 0.005 # = 1 / frequency of IMU imu_time_inte: 0.005 # = 1 / frequency of IMU
lidar_time_inte: 0.1 lidar_time_inte: 0.1
satu_acc: 3.0 # the saturation value of IMU's acceleration. not related to the units satu_acc: 3.0 # the saturation value of IMU's acceleration. not related to the units
satu_gyro: 35 # the saturation value of IMU's angular velocity. not related to the units satu_gyro: 35.0 # the saturation value of IMU's angular velocity. not related to the units
acc_norm: 1.0 # 9.810 # 1.0 for g as unit, 9.81 for m/s^2 as unit of the IMU's acceleration acc_norm: 1.0 # 9.810 # 1.0 for g as unit, 9.81 for m/s^2 as unit of the IMU's acceleration
lidar_meas_cov: 0.01 # 0.001; 0.01 lidar_meas_cov: 0.01 # 0.001; 0.01
acc_cov_output: 500 acc_cov_output: 500.0
gyr_cov_output: 1000 gyr_cov_output: 1000.0
b_acc_cov: 0.0001 b_acc_cov: 0.0001
b_gyr_cov: 0.0001 b_gyr_cov: 0.0001
imu_meas_acc_cov: 0.1 #0.1 # 0.1 imu_meas_acc_cov: 0.1 #0.1 # 0.1
@@ -44,14 +44,14 @@
gyr_cov_input: 0.01 # for IMU as input model gyr_cov_input: 0.01 # for IMU as input model
acc_cov_input: 0.1 # for IMU as input model acc_cov_input: 0.1 # for IMU as input model
plane_thr: 0.1 # 0.05, the threshold for plane criteria, the smaller, the flatter a plane plane_thr: 0.1 # 0.05, the threshold for plane criteria, the smaller, the flatter a plane
match_s: 81 match_s: 81.0
ivox_grid_resolution: 2.0 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: [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 in the initial IMU frame for unstationary start or in the initial LiDAR frame for using without IMU 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_T: [ 0.04165, 0.02326, -0.0284 ] # avia # [0.011, 0.02329, -0.04412] # mid360
extrinsic_R: [ 1, 0, 0, extrinsic_R: [ 1.0, 0.0, 0.0,
0, 1, 0, 0.0, 1.0, 0.0,
0, 0, 1 ] 0.0, 0.0, 1.0 ]
odometry: odometry:
publish_odometry_without_downsample: false publish_odometry_without_downsample: false

4
src/parameters.cpp
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@@ -73,7 +73,6 @@ void readParameters(rclcpp::Node::SharedPtr &nh)
nh->declare_parameter<bool>("mapping.imu_en",true); nh->declare_parameter<bool>("mapping.imu_en",true);
nh->declare_parameter<bool>("mapping.extrinsic_est_en",true); nh->declare_parameter<bool>("mapping.extrinsic_est_en",true);
nh->declare_parameter<double>("mapping.imu_time_inte",0.005); nh->declare_parameter<double>("mapping.imu_time_inte",0.005);
nh->declare_parameter<double>("mapping.lidar_meas_cov",0.1);
nh->declare_parameter<double>("mapping.acc_cov_input",0.1); nh->declare_parameter<double>("mapping.acc_cov_input",0.1);
nh->declare_parameter<double>("mapping.vel_cov",20); nh->declare_parameter<double>("mapping.vel_cov",20);
nh->declare_parameter<double>("mapping.gyr_cov_input",0.1); nh->declare_parameter<double>("mapping.gyr_cov_input",0.1);
@@ -88,7 +87,7 @@ void readParameters(rclcpp::Node::SharedPtr &nh)
nh->declare_parameter<int>("preprocess.scan_line", 16); nh->declare_parameter<int>("preprocess.scan_line", 16);
nh->declare_parameter<int>("preprocess.scan_rate", 10); nh->declare_parameter<int>("preprocess.scan_rate", 10);
nh->declare_parameter<int>("preprocess.timestamp_unit", 1); nh->declare_parameter<int>("preprocess.timestamp_unit", 1);
nh->declare_parameter<double>("mapping.match_s", 81); nh->declare_parameter<double>("mapping.match_s", 81.0);
nh->declare_parameter<std::vector<double>>("mapping.gravity", std::vector<double>()); nh->declare_parameter<std::vector<double>>("mapping.gravity", std::vector<double>());
nh->declare_parameter<std::vector<double>>("mapping.gravity_init", std::vector<double>()); nh->declare_parameter<std::vector<double>>("mapping.gravity_init", std::vector<double>());
nh->declare_parameter<std::vector<double>>("mapping.extrinsic_T", std::vector<double>()); nh->declare_parameter<std::vector<double>>("mapping.extrinsic_T", std::vector<double>());
@@ -131,7 +130,6 @@ void readParameters(rclcpp::Node::SharedPtr &nh)
nh->get_parameter("mapping.imu_en",imu_en); nh->get_parameter("mapping.imu_en",imu_en);
nh->get_parameter("mapping.extrinsic_est_en",extrinsic_est_en); nh->get_parameter("mapping.extrinsic_est_en",extrinsic_est_en);
nh->get_parameter("mapping.imu_time_inte",imu_time_inte); nh->get_parameter("mapping.imu_time_inte",imu_time_inte);
nh->get_parameter("mapping.lidar_meas_cov",laser_point_cov);
nh->get_parameter("mapping.acc_cov_input",acc_cov_input); nh->get_parameter("mapping.acc_cov_input",acc_cov_input);
nh->get_parameter("mapping.vel_cov",vel_cov); nh->get_parameter("mapping.vel_cov",vel_cov);
nh->get_parameter("mapping.gyr_cov_input",gyr_cov_input); nh->get_parameter("mapping.gyr_cov_input",gyr_cov_input);