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fast_lio2 released!

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xw
2021-07-04 10:17:41 -04:00
parent 6e1fa94351
commit 1087a72497
44 changed files with 7155 additions and 2973 deletions
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launch/mapping_ouster64.launch Normal file
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<launch>
<!-- Launch file for ouster OS2-64 LiDAR -->
<arg name="rviz" default="true" />
<rosparam command="load" file="$(find fast_lio)/config/ouster64.yaml" />
<param name="feature_extract_enable" type="bool" value="1"/>
<param name="point_filter_num" type="int" value="3"/>
<param name="max_iteration" type="int" value="4" />
<param name="dense_map_enable" type="bool" value="1" />
<param name="filter_size_surf" type="double" value="0.5" />
<param name="filter_size_map" type="double" value="0.5" />
<param name="cube_side_length" type="double" value="2000" />
<param name="runtime_pos_log_enable" type="bool" value="0" />
<node pkg="fast_lio" type="fastlio_mapping" name="laserMapping" output="screen" />
<group if="$(arg rviz)">
<node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find fast_lio)/rviz_cfg/loam_livox.rviz" />
</group>
</launch>