Initial import of FaRui Campus ADS v3.2

2026-06-05 14:20:30 +08:00
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+/**:
+  ros__parameters:
+    # Topics
+    pointCloudTopic: "/sensing/lidar/top/pointcloud"               # Point cloud data
+    imuTopic: "/sensing/imu/tamagawa/imu_raw"                         # IMU data
+    odomTopic: "odometry/imu"                   # IMU pre-preintegration odometry, same frequency as IMU
+    gpsTopic: "/sensing/gnss/ublox/nav_sat_fix"                   # GPS odometry topic from navsat, see module_navsat.launch file
+
+    # Frames
+    lidarFrame: "base_link"
+    baselinkFrame: "base_link"
+    odometryFrame: "odom"
+    mapFrame: "map"
+
+    # GPS Settings
+    useImuHeadingInitialization: true           # if using GPS data, set to "true"
+    useGpsElevation: true                      # if GPS elevation is bad, set to "false"
+    gpsCovThreshold: 2.0                        # m^2, threshold for using GPS data
+    poseCovThreshold: 25.0                      # m^2, threshold for using GPS data
+    
+    # Export settings
+    savePCD: false                              # https://github.com/TixiaoShan/LIO-SAM/issues/3
+    savePCDDirectory: "/Documents/map/"        # in your home folder, starts and ends with "/". Warning: the code deletes "LOAM" folder then recreates it. See "mapOptimization" for implementation
+
+    # Sensor Settings
+    sensor: robosense                            # lidar sensor type, 'velodyne' or 'ouster' or 'livox' or 'robosense'
+    N_SCAN: 64                                  # 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)
+    downsampleRate: 2                           # default: 1. Downsample your data if too many points(line). i.e., 16 = 64 / 4, 16 = 16 / 1
+    point_filter_num: 1                         # default: 3. Downsample your data if too many points(point). e.g., 16: 1, 32: 5, 64: 8
+    lidarMinRange: 1.0                          # default: 1.0, minimum lidar range to be used
+    lidarMaxRange: 1000.0                       # default: 1000.0, maximum lidar range to be used
+
+    # IMU Settings
+    imuType: 0                                  # 0: 6-axis  1: 9-axis
+    imuRate: 100.0
+    imuAccNoise: 0.0001
+    imuGyrNoise: 0.0001
+    imuAccBiasN: 0.00001
+    imuGyrBiasN: 0.00001
+    imuGravity: 9.80511
+    imuRPYWeight: 0.01
+
+    # Extrinsics: T_lb (lidar -> imu)
+    extrinsicTrans:  [0.019973, 0.01783, -0.895085]
+    extrinsicRot: [1.0, 0.0, 0.0,
+                    0.0, 1.0, 0.0,
+                    0.0, 0.0, 1.0]
+
+    # This parameter is set only when the 9-axis IMU is used, but it must be a high-precision IMU. e.g. MTI-680
+    extrinsicRPY: [0.0, 0.0, 0.0,
+                    0.0, 1.0, 0.0,
+                    0.0, 0.0, 1.0]
+
+    # voxel filter paprams
+    mappingSurfLeafSize: 0.3                      # default: 0.4 - outdoor, 0.2 - indoor
+
+    # robot motion constraint (in case you are using a 2D robot)
+    z_tollerance: 1000.0                            # meters
+    rotation_tollerance: 1000.0                     # radians
+
+    # CPU Params
+    numberOfCores: 4                              # number of cores for mapping optimization
+    mappingProcessInterval: 0.0                  # seconds, regulate mapping frequency
+
+    # Surrounding map
+    surroundingkeyframeAddingDistThreshold: 1.0   # meters, regulate keyframe adding threshold
+    surroundingkeyframeAddingAngleThreshold: 0.2  # radians, regulate keyframe adding threshold
+    surroundingKeyframeDensity: 2.0               # meters, downsample surrounding keyframe poses   
+    surroundingKeyframeSearchRadius: 50.0         # meters, within n meters scan-to-map optimization (when loop closure disabled)
+    surroundingKeyframeMapLeafSize: 0.5           # downsample local map point cloud
+
+    # Loop closure
+    loopClosureEnableFlag: true
+    loopClosureFrequency: 1.0                     # Hz, regulate loop closure constraint add frequency
+    surroundingKeyframeSize: 50                   # submap size (when loop closure enabled)
+    historyKeyframeSearchRadius: 15.0             # meters, key frame that is within n meters from current pose will be considerd for loop closure
+    historyKeyframeSearchTimeDiff: 30.0           # seconds, key frame that is n seconds older will be considered for loop closure
+    historyKeyframeSearchNum: 25                  # number of hostory key frames will be fused into a submap for loop closure
+    loopClosureICPSurfLeafSize: 0.5               # downsample icp point cloud  
+    historyKeyframeFitnessScore: 0.3              # icp threshold, the smaller the better alignment
+
+    # Visualization
+    globalMapVisualizationSearchRadius: 1000.0    # meters, global map visualization radius
+    globalMapVisualizationPoseDensity: 1.0       # meters, global map visualization keyframe density
+    globalMapVisualizationLeafSize: 0.5           # meters, global map visualization cloud density