108 lines
2.7 KiB
YAML
108 lines
2.7 KiB
YAML
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G1:
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imu_topic: "rt/dog_imu_raw" #/livox/imu rt/utlidar/imu_livox_mid360
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lidar_topic: "rt/rslidar_points"
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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 #8
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lidar_scan_min_range: 0.25
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lidar_scan_max_range: 20.0
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map_frame: "map"
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body_frame: "rslidar"
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pub_point_topic: "rt/unitree/slam_mapping/points"
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pub_odom_topic: "rt/unitree/slam_mapping/odom"
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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: 0.4 #0.3
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map_resolution: 0.4
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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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cube_len: 300.0
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pose_imu_lidar: [0.707, 0.0, 0.0, 0.707, 0.1710, 0, 0.0908]
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save_pcd: true
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save_pcd_res: 0.15
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dist_sq_threshold: 2.0
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plane_threshold: 0.1
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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 rt/utlidar/imu_livox_mid360
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lidar_topic: "rt/unitree/slam_lidar/points"
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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: 35 #8
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lidar_scan_min_range: 0.25
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lidar_scan_max_range: 20.0
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map_frame: "map"
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body_frame: "rslidar"
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pub_point_topic: "rt/unitree/slam_mapping/points"
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pub_odom_topic: "rt/unitree/slam_mapping/odom"
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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: 0.4 #0.3
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map_resolution: 0.4
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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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cube_len: 300.0
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pose_imu_lidar: [0.707, 0.0, 0.0, 0.707, 0.1710, 0.0, 0.0908]
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save_pcd: true
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save_pcd_res: 0.15
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dist_sq_threshold: 2.0
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plane_threshold: 0.1
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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 rt/utlidar/imu_livox_mid360
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lidar_topic: "rt/unitree/slam_lidar/points"
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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: 35 #8
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lidar_scan_min_range: 0.25
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lidar_scan_max_range: 20.0
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map_frame: "map"
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body_frame: "rslidar"
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pub_point_topic: "rt/unitree/slam_mapping/points"
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pub_odom_topic: "rt/unitree/slam_mapping/odom"
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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: 0.4 #0.3
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map_resolution: 0.4
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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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cube_len: 300.0
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pose_imu_lidar: [0.707, 0.0, 0.0, 0.707, 0.1710, 0.0, 0.0908]
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save_pcd: true
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save_pcd_res: 0.15
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dist_sq_threshold: 2.0
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plane_threshold: 0.1
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ground_ang: 75.0 # degree
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