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update readme; update launch; remove redundant files

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HViktorTsoi
2021-08-08 23:09:40 +08:00
parent 8fbffa2802
commit aa31e7c405
45 changed files with 666 additions and 3569 deletions
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launch/localization_avia.launch Normal file
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<launch>
<!-- Launch file for Livox AVIA LiDAR -->
<arg name="rviz" default="true" />
<rosparam command="load" file="$(find fast_lio_localization)/config/avia.yaml" />
<param name="feature_extract_enable" type="bool" value="0"/>
<param name="point_filter_num" type="int" value="1"/>
<param name="max_iteration" type="int" value="3" />
<param name="filter_size_surf" type="double" value="0.5" />
<param name="filter_size_map" type="double" value="0.5" />
<param name="cube_side_length" type="double" value="1000" />
<param name="runtime_pos_log_enable" type="bool" value="0" />
<param name="pcd_save_enable" type="bool" value="0" />
<node pkg="fast_lio_localization" type="fastlio_mapping" name="laserMapping" output="screen" />
<arg name="map" default="" />
<!-- loalization-->
<node pkg="fast_lio_localization" type="global_localization.py" name="global_localization" output="screen" />
<!-- transform fusion-->
<node pkg="fast_lio_localization" type="transform_fusion.py" name="transform_fusion" output="screen" />
<!-- glbal map-->
<node pkg="pcl_ros" type="pcd_to_pointcloud" name="map_publishe" output="screen"
args="$(arg map) 5 _frame_id:=/map cloud_pcd:=/map" />
<group if="$(arg rviz)">
<node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find fast_lio_localization)/rviz_cfg/localization.rviz" />
</group>
</launch>