launch里头加node <node pkg="laser_filters" type="scan_to_scan_filter_chain" name="laser_filter"> <rosparam command="load" file="$(find data_process)/launch/data_process_config.yaml" /> <remap from="/scan" to="/la
scan_filter_sub_ = new message_filters::Subscriber<sensor_msgs::LaserScan>(node_, "scan", 5); scan_filter_ = new tf::MessageFilter<sensor_msgs::LaserScan>(*scan_filter_sub_, tf_, odom_frame_, 5); scan_filter_->registerCallback(boost::bind(&SlamGMapping::laserCallback, this, _1))...
scan_filter_chain: - name: Remove over 0.35 meters on the right type: laser_filters/LaserScanBoxFilter params: box_frame: base_footprint min_x: -3.5 max_x: 3.5 min_y: -3.5 max_y: -0.35 min_z: -0.1 max_z: 0.1 - name: Remove over 0.35 meters on the left type: laser_filters/La...
1tf_ =newTransformListenerWrapper();2message_filters::Subscriber<sensor_msgs::LaserScan>*laser_scan_sub_;3tf::MessageFilter<sensor_msgs::LaserScan>*laser_scan_filter_;45laser_scan_sub_ =newmessage_filters::Subscriber<sensor_msgs::LaserScan>(nh_, scan_topic_,100);6laser_scan_filter_ =newtf:...
test_scan_filter_chain.launch test_scan_filter_chain.yaml test_scan_shadows_filter.cpp test_shadow_detector.cpp test_speckle_filter.cpp test_speckle_filter.test.py test_speckle_filter.yaml .gitignore .travis.yml CHANGELOG.rst CMakeLists.txt ...
rostopic echo /scan rostopic pub -r 10这个后面参数是什么意思啊?是表示每10ms发一次,频率赫兹 rosbag 命令 rosbag 将ROS系统运行过程中的数据录制到一个.bag文件中,然后可以通过回放数据来重现相似的运行过程.退出录制时按Ctrl-C退出该命令,你应该会看到在当前目录下一个以年份、日期和时间命名并以.bag作为...
8、 filter_size_surf(米):室内场景建议filter_size_surf=0.05~0.15,室外场景filter_size_surf=0.5。 9、 filter_size_map(米):室内场景建议filter_size_map=0.15~0.25,室外场景filter_size_map=0.5。 10、 blind (米): 激光雷达距离有效最小距离
TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching=true--1.0改成0.1,提高对运动的敏感度 TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians= math.rad(0.1)--0.55改成0.65,Fast csm的最低分数,高于此分数才进行优化。 POSE_GRAPH.constraint_builder.min_score=0.65--0.6改成0.7,全局定位最小分数...
<remap from="scan" to="/robot/Sick_LMS_291/laser_scan/layer0" /> </node> </launch> 有了这个.launch文件,就可以迅速打开webots仿真环境、rviz和gmapping。 可以通过rviz和slam_gmapping算法来实时构建地图。 在控制台中启动这个launch文件: 代码语言:txt ...
ceres_scan_matcher = { occupied_space_weight = 1., translation_weight = 10., rotation_weight = 40., ceres_solver_options = { use_nonmonotonic_steps = false, max_num_iterations = 20, --提高收敛速度 迭代次数 num_threads = 1, --提高收敛速度 线程数 ...