JYC/25RC_MID360_R2
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Merge branch 'main' of ssh://gitea.qutcmrt.top:222/hara/mid360 into main

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This commit is contained in:
Robofish 2024-11-23 20:18:44 +08:00
commit e30599bb62
4 changed files with 18 additions and 0 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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image: /home/cmrt/ws_livox/src/FAST_LIO_LOCALIZATION/PCD/m4.pgm
resolution: 0.100000
origin: [-17.300000, -16.800000, -nan]
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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@ -37,7 +37,11 @@
<!-- load 2d map --> <!-- load 2d map -->
<arg name="2dmap" default="M4.yaml" /> <arg name="2dmap" default="M4.yaml" />
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<node name = "map_server" pkg = "map_server" type = "map_server" args="$(find fast_lio_localization)/PCD/m4.yaml /map:=prior_map"/>
=======
<node name = "map_server" pkg = "map_server" type = "map_server" args="$(find fast_lio_localization)/PCD/M4.yaml /map:=prior_map"/> <node name = "map_server" pkg = "map_server" type = "map_server" args="$(find fast_lio_localization)/PCD/M4.yaml /map:=prior_map"/>
>>>>>>> 710b3fc3ab857cb452f1e5c38d1599436191b8de
<!-- pointscloud2 to laserscans --> <!-- pointscloud2 to laserscans -->
<include file="$(find fast_lio_localization)/launch/PointsCloud2toLaserscan.launch"> <include file="$(find fast_lio_localization)/launch/PointsCloud2toLaserscan.launch">

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src/FAST_LIO_LOCALIZATION/launch/nav.launch Normal file
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<launch>
<include file="$(find livox_ros_driver2)/launch_ROS1/msg_MID360.launch"/>
<include file="$(find fast_lio_localization)/launch/localization_MID360.launch"/>
<node pkg = "fast_lio_localization" type = "flag" name = "flag" output="screen"/>
<!-- <node pkg = "fast_lio_localization" type = "controlpid" name = "controlpid" output="screen"/> -->
<node pkg = "fast_lio_localization" type = "publish_initial_pose.py" name = "publish_initial_pose" arg="0 0 0 0 0 0 "/>
</launch>