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update the pcd saving to one map

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xw
2021-07-06 05:04:31 -04:00
parent bd8863926c
commit ae6a01383a
4 changed files with 25 additions and 14 deletions
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README.md
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@@ -101,11 +101,11 @@ Connect to your PC to Livox Avia LiDAR by following [Livox-ros-driver installat
### 3.2 For Livox serials with external IMU
mapping_avia.launch theratically supports mid-70, mid-40 or other livox serial lidar, but need to setup some parameters befor run:
mapping_avia.launch theratically supports mid-70, mid-40 or other livox serial LiDAR, but need to setup some parameters befor run:
Edit ``` config/avia.yaml ``` to set the below parameters:
1. lidar point cloud topic name: ``` lid_topic ```
1. LiDAR point cloud topic name: ``` lid_topic ```
2. IMU topic name: ``` imu_topic ```
3. Translational extrinsic: ``` extrinsic_T ```
4. Rotational extrinsic: ``` extrinsic_R ``` (only support rotation matrix)
@@ -117,7 +117,7 @@ Step A: Setup before run
Edit ``` config/velodyne.yaml ``` to set the below parameters:
1. lidar point cloud topic name: ``` lid_topic ```
1. LiDAR point cloud topic name: ``` lid_topic ```
2. IMU topic name: ``` imu_topic ``` (both internal and external, 6-aixes or 9-axies are fine)
3. Line number (we tested 16 and 32 line, but not tested 64 or above): ``` scan_line ```
4. Translational extrinsic: ``` extrinsic_T ```
@@ -138,7 +138,7 @@ Step C: Run LiDAR's ros driver or play rosbag.
### 3.4 PCD file save
Set ``` pcd_save_enable ``` in launchfile to ``` 1 ```, every frame will be saved as an independent .PCD file in ``` FAST_LIO/PCD/ ``` directory.
Set ``` pcd_save_enable ``` in launchfile to ``` 1 ```. All the scans (in global frame) will be accumulated and saved to the file ``` FAST_LIO/PCD/scans.pcd ``` after the FAST-LIO is terminated.
## 4. Rosbag Example
### 4.1 Indoor rosbag (Livox Avia LiDAR)