129 lines
5.5 KiB
YAML
Executable File
129 lines
5.5 KiB
YAML
Executable File
B2:
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grid_map:
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revolution: 0.1 # 分辨率 （m）
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wide: 8.0 # 宽度 （m）
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T_Dog2lidar: [0.415 ,0.0, 0.04,0.0 ,0.0, 0.0] # xyz rpy （m）
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lidar_height: 0.7 # 高度 （m）
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point_cloud_topic: "rt/rslidar_points"
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#odom_topic: "rt/dog_odom" # base odom (not lidar link)
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odom_topic: "rt/lio_sam_ros2/mapping/re_location_odometry"
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gridmap_topic: "rt/gridmap"
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## 碰撞检测 为了保证安全，应当设置比机器人大一点，触发会急停
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collision_x_range: [-0.3, 0.4, 10] # x_min x_max resolution
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collision_y_range: [-0.2, 0.2, 5] # y_min y_max resolution
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## 预警范围 需要大于碰撞检测范围，进行潜在碰撞的预警
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warning_x_range: [-0.65, 0.7 , 10] # x_min x_max resolution
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warning_y_range: [-0.3, 0.3, 6] # y_min y_max resolution
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## 预警范围 会根据当前速度推测未来机器人位置，进行潜在碰撞的预警
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predict_num: 3 #预测未来碰撞风险 步数
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predict_time: 2.0 #预测未来碰撞时间
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## 日志路径
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log_path: "logs/gridmap/"
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B2_W:
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grid_map:
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revolution: 0.1 # 分辨率 （m）
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wide: 8.0 # 宽度 （m）
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T_Dog2lidar: [0.415 ,0.0, 0.04,0.0 ,0.0, 0.0] # xyz rpy （m）
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lidar_height: 0.8 # 高度 （m）
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point_cloud_topic: "rt/rslidar_points"
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#odom_topic: "rt/dog_odom" # base odom (not lidar link)
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odom_topic: "rt/lio_sam_ros2/mapping/re_location_odometry"
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gridmap_topic: "rt/gridmap"
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## 碰撞检测 为了保证安全，应当设置比机器人大一点，触发会急停
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collision_x_range: [-0.3, 0.4, 10] # x_min x_max resolution
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collision_y_range: [-0.2, 0.2, 5] # y_min y_max resolution
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## 预警范围 需要大于碰撞检测范围，进行潜在碰撞的预警
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warning_x_range: [-0.35, 0.7 , 10] # x_min x_max resolution
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warning_y_range: [-0.3, 0.3, 6] # y_min y_max resolution
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## 预警范围 会根据当前速度推测未来机器人位置，进行潜在碰撞的预警
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predict_num: 3 #预测未来碰撞风险 步数
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predict_time: 2.0 #预测未来碰撞时间
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## 日志路径
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log_path: "logs/gridmap/"
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G1:
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grid_map:
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revolution: 0.1 # 分辨率 （m）
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wide: 4.0 # 宽度 （m）
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T_Dog2lidar: [0.0 ,0.0, 0.0 ,3.1415926 ,0.0, 0.0] # xyz rpy （m）
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lidar_height: 1.28 # 高度 （m）
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point_cloud_topic: "rt/utlidar/cloud_livox_mid360"
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#odom_topic: "rt/dog_odom" # base odom (not lidar link)
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odom_topic: "rt/unitree/slam_relocation/odom"
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gridmap_topic: "rt/gridmap"
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## 碰撞检测 为了保证安全，应当设置比机器人大一点，触发会急停
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collision_x_range: [-0.1, 0.2, 4] # x_min x_max resolution
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collision_y_range: [-0.05, 0.05, 3] # y_min y_max resolution
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## 预警范围 需要大于碰撞检测范围，进行潜在碰撞的预警
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warning_x_range: [-0.0, 0.6 , 5] # x_min x_max resolution
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warning_y_range: [-0.4, 0.4, 5] # y_min y_max resolution
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## 预警范围 会根据当前速度推测未来机器人位置，进行潜在碰撞的预警
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predict_num: 3 #预测未来碰撞风险 步数
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predict_time: 2.0 #预测未来碰撞时间
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## 日志路径
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log_path: "logs/gridmap/"
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Go2_W:
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grid_map:
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revolution: 0.05 # 分辨率 （m）
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wide: 6.0 # 宽度 （m）
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T_Dog2lidar: [0.0 ,0.0, 0.0 ,0.0 ,0.226, 0.0] # xyz rpy （m）
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lidar_height: 0.4 # 高度 （m）
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point_cloud_topic: "rt/unitree/slam_lidar/points"
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#odom_topic: "rt/dog_odom" # base odom (not lidar link)
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odom_topic: "rt/unitree/slam_relocation/odom"
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gridmap_topic: "rt/gridmap"
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## 碰撞检测 为了保证安全，应当设置比机器人大一点，触发会急停
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collision_x_range: [-0.2, 0.2, 5] # x_min x_max resolution
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collision_y_range: [-0.05, 0.05, 3] # y_min y_max resolution
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## 预警范围 需要大于碰撞检测范围，进行潜在碰撞的预警
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warning_x_range: [-0.2, 0.3 , 5] # x_min x_max resolution
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warning_y_range: [-0.05, 0.05, 3] # y_min y_max resolution
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## 预警范围 会根据当前速度推测未来机器人位置，进行潜在碰撞的预警
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predict_num: 3 #预测未来碰撞风险 步数
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predict_time: 2.0 #预测未来碰撞时间
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## 日志路径
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log_path: "logs/gridmap/"
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Go2:
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grid_map:
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revolution: 0.1 # 分辨率 （m）
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wide: 8.0 # 宽度
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# T_Dog2lidar: [ 0.1701 ,0.0, 0.0908 ,0.0 ,0.0 , 1.57 ] # xyz rpy （m）xt16
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# T_Dog2lidar: [ 0.0 ,0.0, 0.0 ,0.0 ,0.226 , 0.0 ] # xyz rpy （m）mid360
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T_Dog2lidar: [0.1870, 0.0, 0.0803, 0.0, 0.226893, 0.0]
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lidar_height: 0.4 # 高度 （m）
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point_cloud_topic: "rt/unitree/slam_lidar/points"
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#odom_topic: "rt/dog_odom" # base odom (not lidar link)
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odom_topic: "rt/unitree/slam_relocation/odom"
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gridmap_topic: "rt/gridmap"
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## 碰撞检测 为了保证安全，应当设置比机器人大一点，触发会急停
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collision_x_range: [-0.2, 0.2, 5] # x_min x_max resolution
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collision_y_range: [-0.05, 0.05, 3] # y_min y_max resolution
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## 预警范围 需要大于碰撞检测范围，进行潜在碰撞的预警
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warning_x_range: [-0.2, 0.3 , 5] # x_min x_max resolution
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warning_y_range: [-0.05, 0.05, 3] # y_min y_max resolution
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## 预警范围 会根据当前速度推测未来机器人位置，进行潜在碰撞的预警
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predict_num: 3 #预测未来碰撞风险 步数
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predict_time: 2.0 #预测未来碰撞时间
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## 日志路径
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log_path: "logs/gridmap/"
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