mirror of
https://github.com/HViktorTsoi/FAST_LIO_LOCALIZATION.git
synced 2023-05-28 12:51:38 +08:00
34 lines
1.4 KiB
XML
34 lines
1.4 KiB
XML
<launch>
|
|
<!-- Launch file for Livox Horizon LiDAR -->
|
|
|
|
<arg name="rviz" default="true" />
|
|
|
|
<rosparam command="load" file="$(find fast_lio_localization)/config/horizon.yaml" />
|
|
|
|
<param name="feature_extract_enable" type="bool" value="0"/>
|
|
<param name="point_filter_num" type="int" value="3"/>
|
|
<param name="dense_publish_enable" type="bool" value="1" />
|
|
<param name="filter_size_surf" type="double" value="0.5" />
|
|
<param name="filter_size_map" type="double" value="0.5" />
|
|
<param name="cube_side_length" type="double" value="1000" />
|
|
<param name="runtime_pos_log_enable" type="bool" value="0" />
|
|
<param name="pcd_save_enable" type="bool" value="0" />
|
|
<node pkg="fast_lio_localization" type="fastlio_mapping" name="laserMapping" output="screen" />
|
|
|
|
<arg name="map" default="" />
|
|
<!-- loalization-->
|
|
<node pkg="fast_lio_localization" type="global_localization.py" name="global_localization" output="screen" />
|
|
|
|
<!-- transform fusion-->
|
|
<node pkg="fast_lio_localization" type="transform_fusion.py" name="transform_fusion" output="screen" />
|
|
|
|
<!-- glbal map-->
|
|
<node pkg="pcl_ros" type="pcd_to_pointcloud" name="map_publishe" output="screen"
|
|
args="$(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> |