-
Notifications
You must be signed in to change notification settings - Fork 1.3k
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
add a simple GNSS odometer #429
Open
ahuazuipiaoliang
wants to merge
4
commits into
TixiaoShan:ros2
Choose a base branch
from
pixmoving-moveit:ros2
base: ros2
Could not load branches
Branch not found: {{ refName }}
Loading
Could not load tags
Nothing to show
Loading
Are you sure you want to change the base?
Some commits from the old base branch may be removed from the timeline,
and old review comments may become outdated.
Open
Changes from all commits
Commits
Show all changes
4 commits
Select commit
Hold shift + click to select a range
58ead7c
feat: add pointcloud type to rosbosense 16-beam LiDAR
c115d5e
Merge pull request #1 from pixmoving-moveit/feature/robosense
ahuazuipiaoliang ccad2f0
feat: add GNSS Odometry
ahuazuipiaoliang 06aebaa
Merge pull request #2 from pixmoving-moveit/feature/gps-odom
ahuazuipiaoliang File filter
Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,98 @@ | ||
| /**: | ||
| ros__parameters: | ||
| use_sim_time: true | ||
|
|
||
| # Topics | ||
| pointCloudTopic: "/lidar/top/rslidar_sdk/rs/points" # Point cloud data | ||
| imuTopic: "/gnss/chc/imu" # IMU data | ||
| odomTopic: "odometry/imu" # IMU pre-preintegration odometry, same frequency as IMU | ||
| gpsTopic: "/gnss/fix" # GPS odometry topic from navsat, see module_navsat.launch file | ||
| gpsOdomTopic: "/gps_odom" | ||
| # Frames | ||
| lidarFrame: "lidar_link" | ||
| baselinkFrame: "base_link" | ||
| odometryFrame: "odom" | ||
| mapFrame: "map" | ||
|
|
||
| # GPS Settings | ||
| useImuHeadingInitialization: true # if using GPS data, set to "true" | ||
| useGpsElevation: true # 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 | ||
|
|
||
| # Export settings | ||
| 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: robosense # lidar sensor type, either 'velodyne', 'ouster' or 'livox' or 'robosense' | ||
| N_SCAN: 16 # number of lidar channels (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 | ||
|
|
||
| # IMU Settings | ||
| # imuAccNoise: 3.9939570888238808e-03 | ||
| # imuGyrNoise: 1.5636343949698187e-03 | ||
| # imuAccBiasN: 6.4356659353532566e-05 | ||
| # imuGyrBiasN: 3.5640318696367613e-05 | ||
| imuAccNoise: 5.9215155351791055e-03 | ||
| imuGyrNoise: 1.5059072284923697e-03 | ||
| imuAccBiasN: 1.3379378640306186e-04 | ||
| imuGyrBiasN: 4.3430855283551206e-05 | ||
|
|
||
| imuGravity: 9.80511 | ||
| imuRPYWeight: 0.01 | ||
|
|
||
| extrinsicTrans: [ -0.4, 0.14, 0.0 ] | ||
| extrinsicRot: [1.0, 0.0, 0.0, | ||
| 0.0, 1.0, 0.0, | ||
| 0.0, 0.0, 1.0 ] | ||
| extrinsicRPY: [ 1.0, 0.0, 0.0, | ||
| 0.0, 1.0, 0.0, | ||
| 0.0, 0.0, 1.0 ] | ||
|
|
||
| # LOAM feature threshold | ||
| edgeThreshold: 1.0 | ||
| surfThreshold: 0.1 | ||
| edgeFeatureMinValidNum: 10 | ||
| surfFeatureMinValidNum: 100 | ||
|
|
||
| # voxel filter paprams | ||
| odometrySurfLeafSize: 0.4 # default: 0.4 - outdoor, 0.2 - indoor | ||
| mappingCornerLeafSize: 0.2 # default: 0.2 - outdoor, 0.1 - indoor | ||
| mappingSurfLeafSize: 0.4 # default: 0.4 - outdoor, 0.2 - indoor | ||
|
|
||
| # robot motion constraint (in case you are using a 2D robot) | ||
| z_tollerance: 1000.0 # meters | ||
| rotation_tollerance: 1000.0 # radians | ||
|
|
||
| # CPU Params | ||
| numberOfCores: 4 # number of cores for mapping optimization | ||
| mappingProcessInterval: 0.15 # seconds, regulate mapping frequency | ||
|
|
||
| # Surrounding map | ||
| surroundingkeyframeAddingDistThreshold: 1.0 # meters, regulate keyframe adding threshold | ||
| surroundingkeyframeAddingAngleThreshold: 0.2 # radians, regulate keyframe adding threshold | ||
| surroundingKeyframeDensity: 2.0 # meters, downsample surrounding keyframe poses | ||
| surroundingKeyframeSearchRadius: 50.0 # meters, within n meters scan-to-map optimization | ||
| # (when loop closure disabled) | ||
|
|
||
| # Loop closure | ||
| loopClosureEnableFlag: true | ||
| loopClosureFrequency: 1.0 # Hz, regulate loop closure constraint add frequency | ||
| surroundingKeyframeSize: 50 # submap size (when loop closure enabled) | ||
| historyKeyframeSearchRadius: 15.0 # meters, key frame that is within n meters from | ||
| # current pose will be considerd for loop closure | ||
| historyKeyframeSearchTimeDiff: 30.0 # seconds, key frame that is n seconds older will be | ||
| # considered for loop closure | ||
| historyKeyframeSearchNum: 25 # number of hostory key frames will be fused into a | ||
| # submap for loop closure | ||
| historyKeyframeFitnessScore: 0.3 # icp threshold, the smaller the better alignment | ||
|
|
||
| # Visualization | ||
| globalMapVisualizationSearchRadius: 1000.0 # meters, global map visualization radius | ||
| globalMapVisualizationPoseDensity: 10.0 # meters, global map visualization keyframe density | ||
| globalMapVisualizationLeafSize: 1.0 # meters, global map visualization cloud density |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Oops, something went wrong.
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
does not depend on e.g. OpenCV, PCL