edit prams.yaml for Livox Mid-70 and 9axis LiDAR

yuataka · Aug 17, 2022 · b870eca · b870eca
1 parent 9991daa
commit b870eca
Showing 1 changed file with 27 additions and 18 deletions.
diff --git a/config/params.yaml b/config/params.yaml
@@ -2,18 +2,20 @@ lio_sam:
 
   # Topics
   pointCloudTopic: "points_raw"               # Point cloud data
-  imuTopic: "imu_raw"                         # IMU data
+  imuTopic: "imu"                         # IMU data
+  #imuTopic: "imu_raw"                         # IMU data
   odomTopic: "odometry/imu"                   # IMU pre-preintegration odometry, same frequency as IMU
   gpsTopic: "odometry/gpsz"                   # GPS odometry topic from navsat, see module_navsat.launch file
 
   # Frames
-  lidarFrame: "base_link"
-  baselinkFrame: "base_link"
+  lidarFrame: "livox_frame"
+  baselinkFrame: "livox_frame"
+  #baselinkFrame: "base_link"
   odometryFrame: "odom"
   mapFrame: "map"
 
   # GPS Settings
-  useImuHeadingInitialization: true           # if using GPS data, set to "true"
+  useImuHeadingInitialization: false           # if using GPS data, set to "true"
   useGpsElevation: false                      # if GPS elevation is bad, set to "false"
   gpsCovThreshold: 2.0                        # m^2, threshold for using GPS data
   poseCovThreshold: 25.0                      # m^2, threshold for using GPS data
@@ -22,13 +24,20 @@ lio_sam:
   savePCD: false                              # https://github.com/TixiaoShan/LIO-SAM/issues/3
   savePCDDirectory: "/Downloads/LOAM/"        # in your home folder, starts and ends with "/". Warning: the code deletes "LOAM" folder then recreates it. See "mapOptimization" for implementation
 
+  ## Sensor Settings
+  #sensor: velodyne                            # lidar sensor type, 'velodyne' or 'ouster' or 'livox'
+  #N_SCAN: 16                                  # number of lidar channel (i.e., Velodyne/Ouster: 16, 32, 64, 128, Livox Horizon: 6)
+  #Horizon_SCAN: 1800                          # lidar horizontal resolution (Velodyne:1800, Ouster:512,1024,2048, Livox Horizon: 4000)
+  #downsampleRate: 1                           # default: 1. Downsample your data if too many points. i.e., 16 = 64 / 4, 16 = 16 / 1
+  #lidarMinRange: 1.0                          # default: 1.0, minimum lidar range to be used
+  #lidarMaxRange: 1000.0                       # default: 1000.0, maximum lidar range to be used
   # Sensor Settings
-  sensor: velodyne                            # lidar sensor type, 'velodyne' or 'ouster' or 'livox'
-  N_SCAN: 16                                  # number of lidar channel (i.e., Velodyne/Ouster: 16, 32, 64, 128, Livox Horizon: 6)
-  Horizon_SCAN: 1800                          # lidar horizontal resolution (Velodyne:1800, Ouster:512,1024,2048, Livox Horizon: 4000)
+  sensor: livox                            # lidar sensor type, 'velodyne' or 'ouster' or 'livox'
+  N_SCAN: 1                                  # number of lidar channel (i.e., Velodyne/Ouster: 16, 32, 64, 128, Livox Horizon: 6)
+  Horizon_SCAN: 3000                          # lidar horizontal resolution (Velodyne:1800, Ouster:512,1024,2048, Livox Horizon: 4000)
   downsampleRate: 1                           # default: 1. Downsample your data if too many points. i.e., 16 = 64 / 4, 16 = 16 / 1
-  lidarMinRange: 1.0                          # default: 1.0, minimum lidar range to be used
-  lidarMaxRange: 1000.0                       # default: 1000.0, maximum lidar range to be used
+  lidarMinRange: 0.3                          # default: 1.0, minimum lidar range to be used
+  lidarMaxRange: 100.0                       # default: 1000.0, maximum lidar range to be used
 
   # IMU Settings
   imuAccNoise: 3.9939570888238808e-03
@@ -40,23 +49,23 @@ lio_sam:
 
   # Extrinsics: T_lb (lidar -> imu)
   extrinsicTrans: [0.0, 0.0, 0.0]
-  extrinsicRot: [-1, 0, 0,
-                  0, 1, 0,
-                  0, 0, -1]
-  extrinsicRPY: [0, -1, 0,
-                 1, 0, 0,
+  #extrinsicRot: [-1, 0, 0,
+  #                0, 1, 0,
+  #                0, 0, -1]
+  extrinsicRPY: [0, 1, 0,
+                 -1, 0, 0,
                  0, 0, 1]
-  # extrinsicRot: [1, 0, 0,
-  #                 0, 1, 0,
-  #                 0, 0, 1]
+  extrinsicRot: [0, 1, 0,
+                 -1, 0, 0,
+                  0, 0, 1]
   # extrinsicRPY: [1, 0, 0,
   #                 0, 1, 0,
   #                 0, 0, 1]
 
   # LOAM feature threshold
   edgeThreshold: 1.0
   surfThreshold: 0.1
-  edgeFeatureMinValidNum: 10
+  edgeFeatureMinValidNum: 1
   surfFeatureMinValidNum: 100
 
   # voxel filter paprams