From a7ba5029162aa589049b976f3f42b1c3c1ef3951 Mon Sep 17 00:00:00 2001 From: ryohei sasaki Date: Sat, 6 May 2023 21:57:06 +0900 Subject: [PATCH] minor update (#19) * Update lio.yaml * Fix/pointcloud topic yaml (#17) * Add pointCloudTopic in yaml * Add pointCloudTopic in yaml --- scanmatcher/param/lio.yaml | 7 ++++--- scanmatcher/param/lio_bigloop.yaml | 1 + 2 files changed, 5 insertions(+), 3 deletions(-) diff --git a/scanmatcher/param/lio.yaml b/scanmatcher/param/lio.yaml index 81ad79b..1dc2cba 100644 --- a/scanmatcher/param/lio.yaml +++ b/scanmatcher/param/lio.yaml @@ -1,9 +1,10 @@ /**: ros__parameters: # LiDAR setting - sensor: velodyne - N_SCAN: 16 - Horizon_SCAN: 1800 + pointCloudTopic: "points_raw" + 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) # IMU setting imuTopic: "imu_raw" imuAccNoise: 3.9939570888238808e-03 diff --git a/scanmatcher/param/lio_bigloop.yaml b/scanmatcher/param/lio_bigloop.yaml index b5b8692..455c652 100644 --- a/scanmatcher/param/lio_bigloop.yaml +++ b/scanmatcher/param/lio_bigloop.yaml @@ -1,6 +1,7 @@ /**: ros__parameters: # LiDAR setting + pointCloudTopic: "points_raw" sensor: velodyne N_SCAN: 16 Horizon_SCAN: 1800