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add imu soft sync function but not recommended

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xw
2021-07-07 10:22:56 -04:00
parent 8c50d839dc
commit fd91caf212
8 changed files with 51 additions and 31 deletions
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1
config/avia.yaml
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@@ -1,6 +1,7 @@
common:
lid_topic: "/livox/lidar"
imu_topic: "/livox/imu"
time_sync_en: false # ONLY turn on when external time synchronization is really not possible
preprocess:
lidar_type: 1 # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR,

1
config/horizon.yaml
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@@ -1,6 +1,7 @@
common:
lid_topic: "/livox/lidar"
imu_topic: "/livox/imu"
time_sync_en: false # ONLY turn on when external time synchronization is really not possible
preprocess:
lidar_type: 1 # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR,

1
config/ouster64.yaml
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@@ -1,6 +1,7 @@
common:
lid_topic: "/os_cloud_node/points"
imu_topic: "/os_cloud_node/imu"
time_sync_en: false # ONLY turn on when external time synchronization is really not possible
preprocess:
lidar_type: 3 # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR,

1
config/velodyne.yaml
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@@ -1,6 +1,7 @@
common:
lid_topic: "/velodyne_points"
imu_topic: "/imu/data"
time_sync_en: false # ONLY turn on when external time synchronization is really not possible
preprocess:
lidar_type: 2 # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR,