2020-11-01 00:17:32 +08:00
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<launch>
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2021-07-04 22:17:41 +08:00
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<!-- Launch file for Livox AVIA LiDAR -->
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2020-11-01 00:17:32 +08:00
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2021-07-04 22:17:41 +08:00
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<arg name="rviz" default="true" />
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2020-11-01 00:17:32 +08:00
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2021-07-04 22:17:41 +08:00
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<rosparam command="load" file="$(find fast_lio)/config/avia.yaml" />
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2020-11-01 00:17:32 +08:00
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2021-07-04 22:17:41 +08:00
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<param name="feature_extract_enable" type="bool" value="0"/>
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2021-07-15 02:19:34 +08:00
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<param name="point_filter_num" type="int" value="1"/>
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2021-07-04 22:17:41 +08:00
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<param name="max_iteration" type="int" value="3" />
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<param name="filter_size_surf" type="double" value="0.5" />
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<param name="filter_size_map" type="double" value="0.5" />
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<param name="cube_side_length" type="double" value="1000" />
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2021-07-05 23:43:58 +08:00
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<param name="runtime_pos_log_enable" type="bool" value="0" />
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2021-07-06 14:38:05 +08:00
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<param name="pcd_save_enable" type="bool" value="0" />
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2021-07-04 22:17:41 +08:00
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<node pkg="fast_lio" type="fastlio_mapping" name="laserMapping" output="screen" />
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2020-11-01 00:17:32 +08:00
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2021-07-04 22:17:41 +08:00
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<group if="$(arg rviz)">
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<node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find fast_lio)/rviz_cfg/loam_livox.rviz" />
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</group>
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2020-11-01 00:17:32 +08:00
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</launch>
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