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