150 lines
4.1 KiB
YAML
Executable File
150 lines
4.1 KiB
YAML
Executable File
G1:
|
|
imu_topic: "rt/utlidar/imu_livox_mid360" #/livox/imu
|
|
lidar_topic: "rt/utlidar/cloud_livox_mid360"
|
|
map_frame: "map"
|
|
body_frame: "livox_frame"
|
|
pub_point_topic: "rt/unitree/slam_relocation/points"
|
|
pub_odom_topic: "rt/unitree/slam_relocation/odom"
|
|
pub_global_pcd_topic: "rt/unitree/slam_relocation/global_map"
|
|
pub_local_pcd_topic: "rt/unitree/slam_relocation/local_map"
|
|
imu_acc_multi: 1.0 #10.0
|
|
imu_gyro_multi: 1.0
|
|
filter_num: 9 #
|
|
lidar_scan_min_range: 0.25
|
|
lidar_scan_max_range: 20.0 # 30.0
|
|
imu_init_num: 100
|
|
vel_cov: 20.0
|
|
acc_cov: 50000.0
|
|
gyro_cov: 1000.0
|
|
b_acc_cov: 0.0001
|
|
b_gyro_cov: 0.0001
|
|
lidar_meas_cov_inv: 100.0
|
|
imu_meas_acc_cov_inv: 1.0
|
|
imu_meas_gyro_cov_inv: 10.0
|
|
satu_acc: 20.0
|
|
satu_gyro: 35.0
|
|
scan_resolution: 0.3 #0.15
|
|
map_resolution: 0.3
|
|
near_search_num: 5.0
|
|
move_thresh: 1.5
|
|
det_range: 10.0
|
|
pose_imu_lidar: [1.0, 0.0, 0.0, 0.0, -0.011, -0.02329, 0.04412] # [qw,qx,qy,qz,tx,ty,tz ]
|
|
icp_score: 0.03
|
|
cube_len: 300.0
|
|
speed_max: 1.5 #m/s
|
|
plane_threshold: 0.1 #0.1
|
|
dist_sq_threshold: 1.5 #0.1
|
|
init_local_map_res: 0.15
|
|
gridResolutionX: 30
|
|
gridResolutionY: 30
|
|
gridResolutionZ: 30
|
|
nearbyMethod: NEARBY26
|
|
re_position_tollerance: 0.1
|
|
re_angle_tollerance: 0.2
|
|
re_score_tollerance: 0.02
|
|
map_thresh: 10.0
|
|
time_thresh: 1.0
|
|
pos_thresh: 0.5
|
|
angle_thresh: 0.2
|
|
ground_ang: 70.0 # degree
|
|
|
|
Go2:
|
|
imu_topic: "rt/unitree/slam_lidar/imu" #/livox/imu
|
|
lidar_topic: "rt/unitree/slam_lidar/points"
|
|
map_frame: "map"
|
|
body_frame: "livox_frame"
|
|
pub_point_topic: "rt/unitree/slam_relocation/points"
|
|
pub_odom_topic: "rt/unitree/slam_relocation/odom"
|
|
pub_global_pcd_topic: "rt/unitree/slam_relocation/global_map"
|
|
pub_local_pcd_topic: "rt/unitree/slam_relocation/local_map"
|
|
imu_acc_multi: 10.0 #10.0
|
|
imu_gyro_multi: 1.0
|
|
filter_num: 35 #
|
|
lidar_scan_min_range: 0.25
|
|
lidar_scan_max_range: 20.0 # 30.0
|
|
imu_init_num: 100
|
|
vel_cov: 20.0
|
|
acc_cov: 50000.0
|
|
gyro_cov: 1000.0
|
|
b_acc_cov: 0.0001
|
|
b_gyro_cov: 0.0001
|
|
lidar_meas_cov_inv: 100.0
|
|
imu_meas_acc_cov_inv: 1.0
|
|
imu_meas_gyro_cov_inv: 10.0
|
|
satu_acc: 20.0
|
|
satu_gyro: 35.0
|
|
scan_resolution: 0.3 #0.15
|
|
map_resolution: 0.3
|
|
near_search_num: 5.0
|
|
move_thresh: 1.5
|
|
det_range: 10.0
|
|
pose_imu_lidar: [1.0, 0.0, 0.0, 0.0, 0.1870, 0.0, 0.0803] # [qw,qx,qy,qz,tx,ty,tz ]
|
|
icp_score: 0.03
|
|
cube_len: 300.0
|
|
speed_max: 2.5 #m/s
|
|
plane_threshold: 0.1 #0.1
|
|
dist_sq_threshold: 0.1 #0.1
|
|
init_local_map_res: 0.15
|
|
gridResolutionX: 30
|
|
gridResolutionY: 30
|
|
gridResolutionZ: 30
|
|
nearbyMethod: NEARBY26
|
|
re_position_tollerance: 0.1
|
|
re_angle_tollerance: 0.2
|
|
re_score_tollerance: 0.02
|
|
map_thresh: 10.0
|
|
time_thresh: 1.0
|
|
pos_thresh: 0.5
|
|
angle_thresh: 0.2
|
|
ground_ang: 60.0 # degree
|
|
|
|
Go2_W:
|
|
imu_topic: "rt/unitree/slam_lidar/imu" #/livox/imu
|
|
lidar_topic: "rt/unitree/slam_lidar/points"
|
|
map_frame: "map"
|
|
body_frame: "livox_frame"
|
|
pub_point_topic: "rt/unitree/slam_relocation/points"
|
|
pub_odom_topic: "rt/unitree/slam_relocation/odom"
|
|
pub_global_pcd_topic: "rt/unitree/slam_relocation/global_map"
|
|
pub_local_pcd_topic: "rt/unitree/slam_relocation/local_map"
|
|
imu_acc_multi: 10.0 #10.0
|
|
imu_gyro_multi: 1.0
|
|
filter_num: 35 #
|
|
lidar_scan_min_range: 0.25
|
|
lidar_scan_max_range: 20.0 # 30.0
|
|
imu_init_num: 100
|
|
vel_cov: 20.0
|
|
acc_cov: 50000.0
|
|
gyro_cov: 1000.0
|
|
b_acc_cov: 0.0001
|
|
b_gyro_cov: 0.0001
|
|
lidar_meas_cov_inv: 100.0
|
|
imu_meas_acc_cov_inv: 1.0
|
|
imu_meas_gyro_cov_inv: 10.0
|
|
satu_acc: 20.0
|
|
satu_gyro: 35.0
|
|
scan_resolution: 0.3 #0.15
|
|
map_resolution: 0.3
|
|
near_search_num: 5.0
|
|
move_thresh: 1.5
|
|
det_range: 10.0
|
|
pose_imu_lidar: [1.0, 0.0, 0.0, 0.0, 0.1870, 0.0, 0.0803] # [qw,qx,qy,qz,tx,ty,tz ]
|
|
icp_score: 0.05 #0.03
|
|
cube_len: 300.0
|
|
speed_max: 2.5 #m/s
|
|
plane_threshold: 0.1 #0.1
|
|
dist_sq_threshold: 0.1 #0.1
|
|
init_local_map_res: 0.15
|
|
gridResolutionX: 30
|
|
gridResolutionY: 30
|
|
gridResolutionZ: 30
|
|
nearbyMethod: NEARBY26
|
|
re_position_tollerance: 0.1
|
|
re_angle_tollerance: 0.2
|
|
re_score_tollerance: 0.02
|
|
map_thresh: 10.0
|
|
time_thresh: 1.0
|
|
pos_thresh: 0.5
|
|
angle_thresh: 0.2
|
|
ground_ang: 60.0 # degree
|