Update outdoor config file for robosense

Author: HViktorTsoi

config/robosense_outdoor.yaml

@@ -0,0 +1,51 @@
+common:
+    lid_topic:  "/sensor/lidar/points"
+    imu_topic:  "/sensor/imu/imu_data"
+    time_sync_en: false         # ONLY turn on when external time synchronization is really not possible
+
+preprocess:
+    lidar_type: 2                # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR,
+    scan_line: 16
+    scan_rate: 10                # only need to be set for velodyne, unit: Hz,
+    blind: 1
+    point_filter_num: 1
+
+mapping:
+    down_sample_size: 0.4
+    max_iteration: 4
+    voxel_size: 2.0
+    max_layer: 4 # 原始参数4                # 4 layer, 0, 1, 2, 3
+    layer_point_size: [ 5, 5, 5, 5, 5 ]
+    plannar_threshold: 0.01
+    max_points_size: 1000
+    max_cov_points_size: 1000
+
+    fov_degree:    360
+    det_range:     100.0
+    extrinsic_est_en:  true      # true: enable the online estimation of IMU-LiDAR extrinsic,
+    extrinsic_T:  [-0.376489, -0.0505456, -0.109697 ]
+    extrinsic_R: [ 1, 0, 0,
+                   0, 1, 0,
+                   0, 0, 1 ]
+
+noise_model:
+    ranging_cov: 0.04
+    angle_cov: 0.1
+    acc_cov: 0.2
+    gyr_cov: 0.05
+    b_acc_cov: 0.0043
+    b_gyr_cov: 0.000266
+
+
+publish:
+    pub_voxel_map: false
+    publish_max_voxel_layer: 1         # only publish 0,1,2 layer's plane
+    path_en:  true
+    scan_publish_en:  true       # false: close all the point cloud output
+    dense_publish_en: true       # false: low down the points number in a global-frame point clouds scan.
+    scan_bodyframe_pub_en: true  # true: output the point cloud scans in IMU-body-frame
+
+pcd_save:
+    pcd_save_en: false
+    interval: -1                 # how many LiDAR frames saved in each pcd file;
+    # -1 : all frames will be saved in ONE pcd file, may lead to memory crash when having too much frames.

launch/mapping_robosense.launch

@@ -5,6 +5,7 @@
     <arg name="debug" default="false"/>
 
     <rosparam command="load" file="$(find pv_lio)/config/robosense.yaml"/>
+<!--    <rosparam command="load" file="$(find pv_lio)/config/robosense_outdoor.yaml"/>-->
 
     <group if="$(eval arg('debug') == False)">
         <node pkg="pv_lio" type="pv_lio_node" name="pv_lio_node" output="screen"/>