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test_velodyne.launch: added more options

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matlabbe
2021-09-30 09:55:29 -04:00
parent 2c144400ed
commit b5dd624ae2
1 changed files with 10 additions and 5 deletions
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launch/tests/test_velodyne.launch
+10 -5
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@@ -24,6 +24,8 @@
<arg name="loop_ratio" default="0.4"/> <!-- Set to 0.2 for kitti -->
<arg name="resolution" default="0.1"/> <!-- set 0.1-0.3 for indoor, set 0.3-0.5 for outdoor (0.4 for kitti) -->
<arg name="iterations" default="10"/>
<arg name="ground_normals_up" default="false"/> <!-- set to true when velodyne is always horizontal to ground (car, kitti) -->
<arg name="floam" default="false"/> <!-- RTAB-Map should be built with FLOAM http://official-rtab-map-forum.206.s1.nabble.com/icp-odometry-with-LOAM-crash-tp8261p8563.html -->
<arg name="floam_sensor" default="0"/> <!-- 0=16 rings (VLP16), 1=32 rings, 2=64 rings (kitti dataset) -->
@@ -47,6 +49,7 @@
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="odom_frame_id" type="string" value="odom"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
<param name="wait_for_transform_duration" type="double" value="0.2"/>
<param if="$(arg scan_20_hz)" name="expected_update_rate" type="double" value="25"/>
<param unless="$(arg scan_20_hz)" name="expected_update_rate" type="double" value="15"/>
@@ -56,7 +59,7 @@
<!-- ICP parameters -->
<param name="Icp/PointToPlane" type="string" value="true"/>
<param name="Icp/Iterations" type="string" value="10"/>
<param name="Icp/Iterations" type="string" value="$(arg iterations)"/>
<param if="$(arg floam)" name="Icp/VoxelSize" type="string" value="0"/>
<param unless="$(arg floam)" name="Icp/VoxelSize" type="string" value="$(arg resolution)"/>
<param name="Icp/DownsamplingStep" type="string" value="1"/> <!-- cannot be increased with ring-like lidar -->
@@ -65,10 +68,11 @@
<param unless="$(arg floam)" name="Icp/PointToPlaneK" type="string" value="20"/>
<param name="Icp/PointToPlaneRadius" type="string" value="0"/>
<param name="Icp/MaxTranslation" type="string" value="2"/>
<param name="Icp/MaxCorrespondenceDistance" type="string" value="1"/>
<param name="Icp/MaxCorrespondenceDistance" type="string" value="$(eval resolution*10)"/>
<param name="Icp/PM" type="string" value="true"/>
<param name="Icp/PMOutlierRatio" type="string" value="0.7"/>
<param name="Icp/CorrespondenceRatio" type="string" value="0.01"/>
<param if="$(arg ground_normals_up)" name="Icp/PointToPlaneGroundNormalsUp" type="string" value="0.8"/>
<!-- Odom parameters -->
<param name="Odom/ScanKeyFrameThr" type="string" value="0.9"/>
@@ -86,6 +90,7 @@
<param name="subscribe_rgb" type="bool" value="false"/>
<param name="subscribe_scan_cloud" type="bool" value="true"/>
<param name="approx_sync" type="bool" value="false"/>
<param name="wait_for_transform_duration" type="double" value="0.2"/>
<remap from="scan_cloud" to="assembled_cloud"/>
<remap from="imu" to="$(arg imu_topic)"/>
@@ -114,10 +119,10 @@
<param name="Icp/PointToPlaneK" type="string" value="20"/>
<param name="Icp/PointToPlaneRadius" type="string" value="0"/>
<param name="Icp/PointToPlane" type="string" value="true"/>
<param name="Icp/Iterations" type="string" value="10"/>
<param name="Icp/Iterations" type="string" value="$(arg iterations)"/>
<param name="Icp/Epsilon" type="string" value="0.001"/>
<param name="Icp/MaxTranslation" type="string" value="3"/>
<param name="Icp/MaxCorrespondenceDistance" type="string" value="1"/>
<param name="Icp/MaxCorrespondenceDistance" type="string" value="$(eval resolution*10)"/>
<param name="Icp/PM" type="string" value="true"/>
<param name="Icp/PMOutlierRatio" type="string" value="0.7"/>
<param name="Icp/CorrespondenceRatio" type="string" value="$(arg loop_ratio)"/>
@@ -129,7 +134,7 @@
<param name="subscribe_odom_info" type="bool" value="true"/>
<param name="subscribe_scan_cloud" type="bool" value="true"/>
<param name="approx_sync" type="bool" value="false"/>
<remap from="scan_cloud" to="/velodyne_points"/>
<remap from="scan_cloud" to="odom_filtered_input_scan"/>
<remap from="odom_info" to="odom_info"/>
</node>