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second time add the the config file and launch file about Livox mid360 #21

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second time add the the config file and launch file about Livox mid360 #21

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TheSeanParker Oct 31, 2024
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TheSeanParker Oct 31, 2024
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37 changes: 37 additions & 0 deletions config/mid360.yaml
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common:
lid_topic: "/livox/lidar"
imu_topic: "/livox/imu"
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,
scan_line: 4
blind: 0.5

mapping:
acc_cov: 0.1
gyr_cov: 0.1
toSeeTheMapPoint: false
# prior_proportion: 0.1
b_acc_cov: 0.0001
b_gyr_cov: 0.0001
fov_degree: 360
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 ]
extrinsic_R: [ 1, 0, 0,
0, 1, 0,
0, 0, 1]

publish:
path_en: true
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: 100 #default -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.
interval_save_num: 4
22 changes: 22 additions & 0 deletions launch/mapping_mid360.launch
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<launch>
<!-- Launch file for Livox MID360 LiDAR -->

<arg name="rviz" default="true" />

<rosparam command="load" file="$(find sfast_lio)/config/mid360.yaml" />

<param name="feature_extract_enable" type="bool" value="0"/>
<!-- 100HZ的bag point_filter_num建议设置为1; 10HZ的bag建议设置为2或3 -->
<param name="point_filter_num" type="int" value="3"/>
<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" />
<node pkg="sfast_lio" type="fastlio_mapping" name="laserMapping" output="screen" />

<group if="$(arg rviz)">
<node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find sfast_lio)/rviz_cfg/loam_livox.rviz" />
</group>

</launch>