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HViktorTsoi
2021-08-09 17:25:40 +08:00
parent b423c27e3f
commit a983c266b5
2 changed files with 8 additions and 9 deletions
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scripts/global_localization.py
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@@ -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...')