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fastlio_mid360_real.yaml
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fastlio_mid360_real.yaml
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/**:
ros__parameters:
feature_extract_enable: false
point_filter_num: 3
max_iteration: 3
filter_size_surf: 0.5
filter_size_map: 0.5
cube_side_length: 1000.0
runtime_pos_log_enable: false
map_file_path: "src/rm_nav_bringup/PCD/YOUR_MAP_NAME.pcd"
common:
lid_topic: "/livox/lidar"
imu_topic: "/imu/data"
time_sync_en: false # ONLY turn on when external time synchronization is really not possible
time_offset_lidar_to_imu: 0.0 # Time offset between lidar and IMU calibrated by other algorithms, e.g. LI-Init (can be found in README).
# This param will take effect no matter what time_sync_en is. So if the time offset is not known exactly, please set as 0.0
preprocess:
lidar_type: 1 # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR, 4 for any other pointcloud input
scan_line: 4
blind: 0.5
timestamp_unit: 3
scan_rate: 10
mapping:
acc_cov: 0.1
gyr_cov: 0.1
b_acc_cov: 0.001
b_gyr_cov: 0.001
fov_degree: 360.0
det_range: 100.0
extrinsic_est_en: false # true: enable the online estimation of IMU-LiDAR extrinsic
extrinsic_T: [ -0.011, -0.02329, 0.04412 ] # Real
extrinsic_R: [1., 0., 0.,
0., 1., 0.,
0., 0., 1.]
publish:
path_en: true # true: publish Path
effect_map_en: false # true: publish Effects
map_en: true # true: publish Map cloud
scan_publish_en: true # false: close all the point cloud output
dense_publish_en: false # false: low down the points number in a global-frame point clouds scan.
scan_bodyframe_pub_en: true # true: output the point cloud scans in IMU-body-frame
pcd_save:
pcd_save_en: true
interval: -1 # how many LiDAR frames saved in each pcd file;
# -1 : all frames will be saved in ONE pcd file, may lead to memory crash when having too much frames.