150 lines
4.0 KiB
YAML
150 lines
4.0 KiB
YAML
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G1:
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imu_topic: "rt/dog_imu_raw" #/livox/imu
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lidar_topic: "rt/rslidar_points"
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map_frame: "map"
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body_frame: "rslidar"
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pub_point_topic: "rt/unitree/slam_relocation/points"
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pub_odom_topic: "rt/unitree/slam_relocation/odom"
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pub_global_pcd_topic: "rt/unitree/slam_relocation/global_map"
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pub_local_pcd_topic: "rt/unitree/slam_relocation/local_map"
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imu_acc_multi: 1.0 #10.0
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imu_gyro_multi: 1.0
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filter_num: 4 #
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lidar_scan_min_range: 0.25
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lidar_scan_max_range: 15.0 # 30.0
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imu_init_num: 100
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vel_cov: 20.0
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acc_cov: 500.0
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gyro_cov: 1000.0
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b_acc_cov: 0.0001
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b_gyro_cov: 0.0001
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lidar_meas_cov_inv: 100.0
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imu_meas_acc_cov_inv: 10.0
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imu_meas_gyro_cov_inv: 10.0
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satu_acc: 20.0
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satu_gyro: 35.0
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scan_resolution: 0.3 #0.15
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map_resolution: 0.3
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near_search_num: 5.0
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move_thresh: 1.5
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det_range: 60.0
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pose_imu_lidar: [0.707, 0.0, 0.0, 0.707, 0.1710, 0.0, 0.0908] # [qw,qx,qy,qz,tx,ty,tz ]
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icp_score: 0.03
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cube_len: 300.0
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speed_max: 2.5 #m/s
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plane_threshold: 0.1 #0.1
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dist_sq_threshold: 0.1 #0.1
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init_local_map_res: 0.15
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gridResolutionX: 15
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gridResolutionY: 15
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gridResolutionZ: 15
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nearbyMethod: NEARBY26
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re_position_tollerance: 3.0
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re_angle_tollerance: 0.2
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re_score_tollerance: 0.2
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map_thresh: 10.0
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time_thresh: 1.0
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pos_thresh: 0.5
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angle_thresh: 0.2
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ground_ang: 75.0 # degree
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Go2:
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imu_topic: "rt/dog_imu_raw" #/livox/imu
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lidar_topic: "rt/unitree/slam_lidar/points"
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map_frame: "map"
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body_frame: "rslidar"
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pub_point_topic: "rt/unitree/slam_relocation/points"
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pub_odom_topic: "rt/unitree/slam_relocation/odom"
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pub_global_pcd_topic: "rt/unitree/slam_relocation/global_map"
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pub_local_pcd_topic: "rt/unitree/slam_relocation/local_map"
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imu_acc_multi: 1.0 #10.0
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imu_gyro_multi: 1.0
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filter_num: 45 #
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lidar_scan_min_range: 0.25
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lidar_scan_max_range: 15.0 # 30.0
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imu_init_num: 100
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vel_cov: 20.0
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acc_cov: 500.0
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gyro_cov: 1000.0
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b_acc_cov: 0.0001
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b_gyro_cov: 0.0001
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lidar_meas_cov_inv: 100.0
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imu_meas_acc_cov_inv: 0.5
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imu_meas_gyro_cov_inv: 0.5
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satu_acc: 20.0
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satu_gyro: 35.0
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scan_resolution: 0.3 #0.15
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map_resolution: 0.3
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near_search_num: 5.0
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move_thresh: 1.5
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det_range: 60.0
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pose_imu_lidar: [0.707, 0.0, 0.0, 0.707, 0.1710, 0.0, 0.0908] # [qw,qx,qy,qz,tx,ty,tz ]
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icp_score: 0.03
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cube_len: 300.0
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speed_max: 2.5 #m/s
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plane_threshold: 0.1 #0.1
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dist_sq_threshold: 0.1 #0.1
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init_local_map_res: 0.15
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gridResolutionX: 15
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gridResolutionY: 15
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gridResolutionZ: 15
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nearbyMethod: NEARBY26
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re_position_tollerance: 3.0
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re_angle_tollerance: 0.2
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re_score_tollerance: 0.2
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map_thresh: 10.0
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time_thresh: 1.0
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pos_thresh: 0.5
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angle_thresh: 0.2
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ground_ang: 75.0 # degree
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Go2_W:
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imu_topic: "rt/dog_imu_raw" #/livox/imu
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lidar_topic: "rt/unitree/slam_lidar/points"
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map_frame: "map"
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body_frame: "rslidar"
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pub_point_topic: "rt/unitree/slam_relocation/points"
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pub_odom_topic: "rt/unitree/slam_relocation/odom"
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pub_global_pcd_topic: "rt/unitree/slam_relocation/global_map"
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pub_local_pcd_topic: "rt/unitree/slam_relocation/local_map"
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imu_acc_multi: 1.0 #10.0
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imu_gyro_multi: 1.0
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filter_num: 45 #
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lidar_scan_min_range: 0.25
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lidar_scan_max_range: 15.0 # 30.0
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imu_init_num: 100
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vel_cov: 20.0
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acc_cov: 500.0
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gyro_cov: 1000.0
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b_acc_cov: 0.0001
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b_gyro_cov: 0.0001
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lidar_meas_cov_inv: 100.0
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imu_meas_acc_cov_inv: 0.5
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imu_meas_gyro_cov_inv: 0.5
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satu_acc: 20.0
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satu_gyro: 35.0
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scan_resolution: 0.3 #0.15
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map_resolution: 0.3
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near_search_num: 5.0
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move_thresh: 1.5
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det_range: 60.0
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pose_imu_lidar: [0.707, 0.0, 0.0, 0.707, 0.1710, 0.0, 0.0908] # [qw,qx,qy,qz,tx,ty,tz ]
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icp_score: 0.03
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cube_len: 300.0
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speed_max: 2.5 #m/s
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plane_threshold: 0.1 #0.1
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dist_sq_threshold: 0.1 #0.1
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init_local_map_res: 0.15
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gridResolutionX: 15
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gridResolutionY: 15
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gridResolutionZ: 15
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nearbyMethod: NEARBY26
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re_position_tollerance: 3.0
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re_angle_tollerance: 0.2
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re_score_tollerance: 0.2
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map_thresh: 10.0
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time_thresh: 1.0
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pos_thresh: 0.5
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angle_thresh: 0.2
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ground_ang: 75.0 # degree
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