mirror of
https://github.com/HViktorTsoi/FAST_LIO_LOCALIZATION.git
synced 2023-05-28 12:51:38 +08:00
35 lines
1.4 KiB
XML
35 lines
1.4 KiB
XML
<launch>
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<!-- Launch file for ouster OS2-64 LiDAR -->
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<arg name="rviz" default="true" />
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<rosparam command="load" file="$(find fast_lio_localization)/config/ouster64.yaml" />
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<param name="feature_extract_enable" type="bool" value="0"/>
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<param name="point_filter_num" type="int" value="4"/>
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<param name="max_iteration" type="int" value="3" />
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<param name="filter_size_surf" type="double" value="0.5" />
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<param name="filter_size_map" type="double" value="0.5" />
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<param name="cube_side_length" type="double" value="1000" />
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<param name="runtime_pos_log_enable" type="bool" value="0" />
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<param name="pcd_save_enable" type="bool" value="0" />
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<node pkg="fast_lio_localization" type="fastlio_mapping" name="laserMapping" output="screen" />
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<arg name="map" default="" />
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<!-- loalization-->
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<node pkg="fast_lio_localization" type="global_localization.py" name="global_localization" output="screen" />
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<!-- transform fusion-->
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<node pkg="fast_lio_localization" type="transform_fusion.py" name="transform_fusion" output="screen" />
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<!-- glbal map-->
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<node pkg="pcl_ros" type="pcd_to_pointcloud" name="map_publishe" output="screen"
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args="$(arg map) 5 _frame_id:=/map cloud_pcd:=/map" />
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<group if="$(arg rviz)">
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<node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find fast_lio_localization)/rviz_cfg/localization.rviz" />
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</group>
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</launch>
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