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add the path publish switch and new pcd save mode

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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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3
launch/mapping_avia.launch
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@@ -6,13 +6,12 @@
<rosparam command="load" file="$(find fast_lio)/config/avia.yaml" />
<param name="feature_extract_enable" type="bool" value="0"/>
<param name="point_filter_num" type="int" value="1"/>
<param name="point_filter_num" type="int" value="3"/>
<param name="max_iteration" type="int" value="3" />
<param name="filter_size_surf" type="double" value="0.5" />
<param name="filter_size_map" type="double" value="0.5" />
<param name="cube_side_length" type="double" value="1000" />
<param name="runtime_pos_log_enable" type="bool" value="0" />
<param name="pcd_save_enable" type="bool" value="0" />
<node pkg="fast_lio" type="fastlio_mapping" name="laserMapping" output="screen" />
<group if="$(arg rviz)">

5
launch/mapping_horizon.launch
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@@ -7,13 +7,12 @@
<param name="feature_extract_enable" type="bool" value="0"/>
<param name="point_filter_num" type="int" value="3"/>
<param name="dense_publish_enable" type="bool" value="1" />
<param name="max_iteration" type="int" value="3" />
<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_enable" type="bool" value="0" />
<param name="pcd_save_enable" type="bool" value="0" />
<node pkg="fast_lio" type="fastlio_mapping" name="laserMapping" output="screen" />
<node pkg="fast_lio" type="fastlio_mapping" name="laserMapping" output="screen" />
<group if="$(arg rviz)">
<node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find fast_lio)/rviz_cfg/loam_livox.rviz" />

1
launch/mapping_ouster64.launch
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@@ -12,7 +12,6 @@
<param name="filter_size_map" type="double" value="0.5" />
<param name="cube_side_length" type="double" value="1000" />
<param name="runtime_pos_log_enable" type="bool" value="0" />
<param name="pcd_save_enable" type="bool" value="0" />
<node pkg="fast_lio" type="fastlio_mapping" name="laserMapping" output="screen" />
<group if="$(arg rviz)">

1
launch/mapping_velodyne.launch
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@@ -12,7 +12,6 @@
<param name="filter_size_map" type="double" value="0.5" />
<param name="cube_side_length" type="double" value="1000" />
<param name="runtime_pos_log_enable" type="bool" value="0" />
<param name="pcd_save_enable" type="bool" value="0" />
<node pkg="fast_lio" type="fastlio_mapping" name="laserMapping" output="screen" />
<group if="$(arg rviz)">