51 lines
2.6 KiB
YAML
51 lines
2.6 KiB
YAML
/**:
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ros__parameters:
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feature_extract_enable: false
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point_filter_num: 3
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max_iteration: 4 # 增加迭代次数，提高精度
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filter_size_surf: 0.15 # 减小滤波器尺寸，提高精度
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filter_size_map: 0.15 # 减小地图滤波器尺寸，提高精度
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cube_side_length: 2000.0
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runtime_pos_log_enable: false
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map_file_path: "./test.pcd"
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common:
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lid_topic: "/livox/lidar"
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imu_topic: "/livox/imu"
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time_sync_en: false # 禁用时间同步以解决时间差问题
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time_offset_lidar_to_imu: 0.0 # 重置时间偏移
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# This param will take effect no matter what time_sync_en is. So if the time offset is not known exactly, please set as 0.0
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preprocess:
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lidar_type: 1 # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR, 4 for any other pointcloud input
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scan_line: 4
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blind: 0.1
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timestamp_unit: 3
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scan_rate: 5 # 修复: 从20降到5以匹配实际雷达频率3.38Hz
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mapping:
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acc_cov: 0.1 # 降低加速度计噪声协方差，减少漂移
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gyr_cov: 0.1 # 降低陀螺仪噪声协方差，减少漂移
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b_acc_cov: 0.001 # 降低加速度计bias噪声协方差
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b_gyr_cov: 0.001 # 降低陀螺仪bias噪声协方差
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fov_degree: 360.0
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det_range: 100.0
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extrinsic_est_en: false # true: enable the online estimation of IMU-LiDAR extrinsic
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extrinsic_T: [ -0.011, -0.02329, 0.04412 ]
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extrinsic_R: [ 1., 0., 0.,
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0., 1., 0.,
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0., 0., 1.]
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publish:
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path_en: true # true: publish Path
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effect_map_en: false # true: publish Effects
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map_en: true # true: publish Map cloud
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scan_publish_en: true # false: close all the point cloud output
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dense_publish_en: false # false: low down the points number in a global-frame point clouds scan.
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scan_bodyframe_pub_en: true # true: output the point cloud scans in IMU-body-frame
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pcd_save:
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pcd_save_en: true
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interval: -1 # how many LiDAR frames saved in each pcd file;
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# -1 : all frames will be saved in ONE pcd file, may lead to memory crash when having too much frames.
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