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add the path publish switch and new pcd save mode

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This commit is contained in:
xw
2021-08-16 12:13:18 -04:00
parent 53ee209c12
commit dcc38885ac
9 changed files with 60 additions and 25 deletions
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10
config/avia.yaml
View File

@@ -21,7 +21,13 @@ mapping:
0, 1, 0,
0, 0, 1]
publish:
publish:
path_en: false
scan_publish_en: true # false: close all the point cloud output
dense_publish_en: true # false: low down the points number in a global-frame point clouds scan.
scan_bodyframe_pub_en: true # true: output the point cloud scans in IMU-body-frame
scan_bodyframe_pub_en: true # true: output the point cloud scans in IMU-body-frame
pcd_save:
pcd_save_en: true
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.

10
config/horizon.yaml
View File

@@ -21,7 +21,13 @@ mapping:
0, 1, 0,
0, 0, 1]
publish:
publish:
path_en: false
scan_publish_en: true # false: close all the point cloud output
dense_publish_en: true # false: low down the points number in a global-frame point clouds scan.
scan_bodyframe_pub_en: true # true: output the point cloud scans in IMU-body-frame
scan_bodyframe_pub_en: true # true: output the point cloud scans in IMU-body-frame
pcd_save:
pcd_save_en: true
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.

10
config/ouster64.yaml
View File

@@ -21,7 +21,13 @@ mapping:
0, 1, 0,
0, 0, 1]
publish:
publish:
path_en: false
scan_publish_en: true # false: close all the point cloud output
dense_publish_en: true # false: low down the points number in a global-frame point clouds scan.
scan_bodyframe_pub_en: true # true: output the point cloud scans in IMU-body-frame
scan_bodyframe_pub_en: true # true: output the point cloud scans in IMU-body-frame
pcd_save:
pcd_save_en: true
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.

10
config/velodyne.yaml
View File

@@ -21,7 +21,13 @@ mapping:
0, 1, 0,
0, 0, 1]
publish:
publish:
path_en: false
scan_publish_en: true # false: close all the point cloud output
dense_publish_en: true # false: low down the points number in a global-frame point clouds scan.
scan_bodyframe_pub_en: true # true: output the point cloud scans in IMU-body-frame
scan_bodyframe_pub_en: true # true: output the point cloud scans in IMU-body-frame
pcd_save:
pcd_save_en: true
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.