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- common:
- frame_id: "lili_om_rot"
- data_set: "HK"
-
- IMU:
- acc_n: 2000 # 18
- gyr_n: 0.0173
- acc_w: 2
- gyr_w: 0.00025
- preprocessing:
- lidar_topic: "/rslidar_points"
- ds_rate: 2
- line_num: 16
- lidar_odometry:
- max_num_iter: 12
- scan_match_cnt: 1
- if_to_deskew: false
- backend_fusion:
- max_num_iter: 15
- loop_closure_on: true
- local_map_width: 50
- lc_search_radius: 25
- lc_map_width: 25
- lc_icp_thres: 0.2
- slide_window_width: 3
- imu_topic: "/imu_data"
- lidar_const: 7.5
- mapping_interval: 3
- lc_time_thres: 120.0
- surf_dist_thres: 0.18
- kd_max_radius: 1.5
- save_pcd: false
- #extrinsic imu to lidar
- ql2b_w: 1.0
- ql2b_x: 0
- ql2b_y: 0
- ql2b_z: 0
- tl2b_x: 0
- tl2b_y: 0
- tl2b_z: 0.28
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