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add velodyne instructions

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weiBUAA
2021-07-05 23:43:58 +08:00
parent 1087a72497
commit b98bfb3fde
6 changed files with 62 additions and 29 deletions
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8
launch/gdb_debug_example.launch
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@@ -2,12 +2,6 @@
<arg name="rviz" default="true" />
<node pkg="fast_lio" type="loam_feat_extract" name="feature_extract" output="log" />
<param name="lidar_type" type="int" value="1"/>
<param name="feature_extract_enable" type="bool" value="0"/>
<param name="blind" type="double" value="1"/>
<param name="point_filter_num" type="int" value="3"/>
<node pkg="fast_lio" type="fastlio_mapping" name="laserMapping" output="screen" required="true" launch-prefix="gdb -ex run --args">
<param name="imu_topic" type="string" value="/livox/imu" />
<param name="map_file_path" type="string" value=" " />
@@ -17,7 +11,7 @@
<param name="filter_size_corner" type="double" value="0.2" />
<param name="filter_size_surf" type="double" value="0.2" />
<param name="filter_size_map" type="double" value="0.5" />
<param name="runtime_pos_log" type="bool" value="1" />
<param name="runtime_pos_log_enable" type="bool" value="1" />
<param name="cube_side_length" type="double" value="2000" />
</node>

2
launch/mapping_avia.launch
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@@ -12,7 +12,7 @@
<param name="filter_size_surf" type="double" value="0.5" />
<param name="filter_size_map" type="double" value="0.5" />
<param name="cube_side_length" type="double" value="1000" />
<param name="runtime_pos_log" type="bool" value="0" />
<param name="runtime_pos_log_enable" type="bool" value="0" />
<node pkg="fast_lio" type="fastlio_mapping" name="laserMapping" output="screen" />
<group if="$(arg rviz)">

2
launch/mapping_horizon.launch
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@@ -12,7 +12,7 @@
<param name="filter_size_surf" type="double" value="0.5" />
<param name="filter_size_map" type="double" value="0.5" />
<param name="cube_side_length" type="double" value="1000" />
<param name="runtime_pos_log" type="bool" value="0" />
<param name="runtime_pos_log_enable" type="bool" value="0" />
<node pkg="fast_lio" type="fastlio_mapping" name="laserMapping" output="screen" />
<group if="$(arg rviz)">

4
launch/mapping_velody16.launch → launch/mapping_velodyne.launch
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@@ -3,7 +3,7 @@
<arg name="rviz" default="true" />
<rosparam command="load" file="$(find fast_lio)/config/velody16.yaml" />
<rosparam command="load" file="$(find fast_lio)/config/velodyne.yaml" />
<param name="feature_extract_enable" type="bool" value="0"/>
<param name="point_filter_num" type="int" value="4"/>
@@ -12,7 +12,7 @@
<param name="filter_size_surf" type="double" value="0.5" />
<param name="filter_size_map" type="double" value="0.5" />
<param name="cube_side_length" type="double" value="1000" />
<param name="runtime_pos_log" type="bool" value="0" />
<param name="runtime_pos_log_enable" type="bool" value="0" />
<node pkg="fast_lio" type="fastlio_mapping" name="laserMapping" output="screen" />
<group if="$(arg rviz)">