From a983c266b53ec56edbae93185fb21b825827d7d2 Mon Sep 17 00:00:00 2001 From: HViktorTsoi Date: Mon, 9 Aug 2021 17:25:40 +0800 Subject: [PATCH] update readme --- README.md | 3 ++- scripts/global_localization.py | 14 ++++++-------- 2 files changed, 8 insertions(+), 9 deletions(-) diff --git a/README.md b/README.md index 6bb7410..622bf4d 100644 --- a/README.md +++ b/README.md @@ -118,4 +118,5 @@ Thanks for the authors of [FAST-LIO](https://github.com/hku-mars/FAST_LIO) and [ ## TODO 1. Go over the timestamp issue of the published odometry and tf; 2. Using integrated points for global localization; -3. Updating... \ No newline at end of file +3. Fuse global localization with the state estimation of FAST-LIO, and smooth the localization trajectory; +4. Updating... \ No newline at end of file diff --git a/scripts/global_localization.py b/scripts/global_localization.py index e8fab01..fb12207 100755 --- a/scripts/global_localization.py +++ b/scripts/global_localization.py @@ -222,18 +222,16 @@ if __name__ == '__main__': # Global localization frequency (HZ) FREQ_LOCALIZATION = 0.5 - # tf and localization publishing frequency (HZ) - FREQ_PUB_LOCALIZATION = 50 - - # 全局定位的fitness预支 + # The threshold of global localization, + # only those scan2map-matching with lower fitness than LOCALIZATION_TH will be taken LOCALIZATION_TH = 0.2 - # FOV内的最远距离 - FOV_FAR = 300 - - # FOV范围(rad) + # FOV(rad), modify this according to your LiDAR type FOV = 1.6 + # The farthest distance(meters) within FOV + FOV_FAR = 300 + rospy.init_node('fast_lio_localization') rospy.loginfo('Localization Node Inited...')