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Robofish 2024-11-21 21:40:11 +08:00
parent b14ac9aab1
commit 79091a427e
5 changed files with 11 additions and 4 deletions
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src/FAST_LIO_LOCALIZATION/PCD/M4.pgm Normal file
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src/FAST_LIO_LOCALIZATION/PCD/M4.yaml Normal file
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@ -0,0 +1,7 @@
image: /home/robofish/jyc/mid360/src/FAST_LIO_LOCALIZATION/PCD/M4.pgm
resolution: 0.050000
origin: [-22.123611, -17.241680, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196

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src/FAST_LIO_LOCALIZATION/launch/localization_MID360.launch
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@ -36,8 +36,8 @@
</include> --> </include> -->
<!-- load 2d map --> <!-- load 2d map -->
<arg name="2dmap" default="M3.yaml" /> <arg name="2dmap" default="M4.yaml" />
<node name = "map_server" pkg = "map_server" type = "map_server" args="$(find fast_lio_localization)/PCD/M3.yaml /map:=prior_map"/> <node name = "map_server" pkg = "map_server" type = "map_server" args="$(find fast_lio_localization)/PCD/M4.yaml /map:=prior_map"/>
<!-- pointscloud2 to laserscans --> <!-- pointscloud2 to laserscans -->
<include file="$(find fast_lio_localization)/launch/PointsCloud2toLaserscan.launch"> <include file="$(find fast_lio_localization)/launch/PointsCloud2toLaserscan.launch">

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src/FAST_LIO_LOCALIZATION/scripts/global_localization.py
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@ -216,7 +216,7 @@ if __name__ == '__main__':
# The threshold of global localization, # The threshold of global localization,
# only those scan2map-matching with higher fitness than LOCALIZATION_TH will be taken # only those scan2map-matching with higher fitness than LOCALIZATION_TH will be taken
LOCALIZATION_TH = 0.95 LOCALIZATION_TH = 0.8
# FOV(rad), modify this according to your LiDAR type # FOV(rad), modify this according to your LiDAR type
FOV = 6.28 FOV = 6.28

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src/pcd2pgm/launch/run.launch
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@ -2,7 +2,7 @@
<launch> <launch>
<node pkg="pcd2pgm" name="pcd2pgm" type="pcd2pgm" output="screen"> <node pkg="pcd2pgm" name="pcd2pgm" type="pcd2pgm" output="screen">
<!-- 存放pcd文件的路径--> <!-- 存放pcd文件的路径-->
<param name="file_directory" value= "/home/cmrt/mid360/ws_livox/src/FAST_LIO/PCD/" /> <param name="file_directory" value= "/home/robofish/jyc/mid360/src/FAST_LIO/PCD/" />
<!-- pcd文件名称--> <!-- pcd文件名称-->
<param name="file_name" value= "scans" /> <param name="file_name" value= "scans" />
<!-- 选取的范围　最小的高度--> <!-- 选取的范围　最小的高度-->