67 lines
3.5 KiB
YAML
67 lines
3.5 KiB
YAML
/**:
|
|
ros__parameters:
|
|
use_imu_as_input: True # Change to True to use IMU as input of Point-LIO
|
|
prop_at_freq_of_imu: True
|
|
check_satu: True
|
|
init_map_size: 1000
|
|
point_filter_num: 3 # Options: 1, 3
|
|
space_down_sample: True
|
|
filter_size_surf: 0.5 # Options: 0.5, 0.3, 0.2, 0.15, 0.1
|
|
filter_size_map: 0.5 # Options: 0.5, 0.3, 0.15, 0.1
|
|
cube_side_length: 1000.0 # Option: 1000
|
|
runtime_pos_log_enable: false # Option: True
|
|
|
|
common:
|
|
lid_topic: "/livox/lidar"
|
|
imu_topic: "/livox/imu"
|
|
con_frame: false # true: if you need to combine several LiDAR frames into one
|
|
con_frame_num: 1 # the number of frames combined
|
|
cut_frame: false # true: if you need to cut one LiDAR frame into several subframes
|
|
cut_frame_time_interval: 0.1 # should be integral fraction of 1 / LiDAR frequency
|
|
time_diff_lidar_to_imu: 0.0 # Time offset between LiDAR and IMU calibrated by other algorithms, e.g., LI-Init (find in Readme)
|
|
|
|
preprocess:
|
|
lidar_type: 1 # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR
|
|
scan_line: 4
|
|
timestamp_unit: 3 # the unit of time/t field in the PointCloud2 rostopic: 0-second, 1-milisecond, 2-microsecond, 3-nanosecond.
|
|
blind: 0.5
|
|
|
|
mapping:
|
|
imu_en: true
|
|
extrinsic_est_en: false # for aggressive motion, set this variable false
|
|
imu_time_inte: 0.005 # = 1 / frequency of IMU
|
|
lidar_time_inte: 0.1
|
|
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
|
|
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
|
|
acc_cov_output: 500
|
|
gyr_cov_output: 1000
|
|
b_acc_cov: 0.0001
|
|
b_gyr_cov: 0.0001
|
|
imu_meas_acc_cov: 0.1 #0.1 # 0.1
|
|
imu_meas_omg_cov: 0.1 #0.01 # 0.1
|
|
gyr_cov_input: 0.01 # 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
|
|
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 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,
|
|
0, 0, 1 ]
|
|
|
|
odometry:
|
|
publish_odometry_without_downsample: false
|
|
|
|
publish:
|
|
path_en: true # false: close the path output
|
|
scan_publish_en: true # false: close all the point cloud output
|
|
scan_bodyframe_pub_en: false # true: output the point cloud scans in IMU-body-frame
|
|
|
|
pcd_save:
|
|
pcd_save_en: false
|
|
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. |