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HViktorTsoi
2021-08-09 17:25:40 +08:00
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README.md
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@@ -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...
3. Fuse global localization with the state estimation of FAST-LIO, and smooth the localization trajectory;
4. Updating...

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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...')