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hdl_graph_slam
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hdl_graph_slam
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msf_config.yaml

msf_config.yaml 2.0 KB
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  1. /msf_lidar_scan_matching/core/data_playback: true
    2. 

  2. /msf_lidar_scan_matching/core/fixed_bias: 0
    3. 

  3. 

  4. #########IMU PARAMETERS#######
    5. 

  5. ######## Asctec Firefly IMU
    6. 

  6. /msf_lidar_scan_matching/core/core_noise_acc: 0.083
    7. 

  7. /msf_lidar_scan_matching/core/core_noise_accbias: 0.0083
    8. 

  8. /msf_lidar_scan_matching/core/core_noise_gyr: 0.0013
    9. 

  9. /msf_lidar_scan_matching/core/core_noise_gyrbias: 0.00013
    10. 

  10. 

  11. /msf_lidar_scan_matching/pose_sensor/fixed_scale: 1
    12. 

  12. /msf_lidar_scan_matching/pose_sensor/pose_noise_scale: 0.0
    13. 

  13. /msf_lidar_scan_matching/pose_sensor/pose_noise_p_wv: 0.0
    14. 

  14. /msf_lidar_scan_matching/pose_sensor/pose_noise_q_wv: 0.0
    15. 

  15. /msf_lidar_scan_matching/pose_sensor/pose_noise_q_ic: 0.0
    16. 

  16. /msf_lidar_scan_matching/pose_sensor/pose_noise_p_ic: 0.0
    17. 

  17. /msf_lidar_scan_matching/pose_sensor/pose_delay: 0.02
    18. 

  18. /msf_lidar_scan_matching/pose_sensor/pose_noise_meas_p: 0.05
    19. 

  19. /msf_lidar_scan_matching/pose_sensor/pose_noise_meas_q: 0.05
    20. 

  20. 

  21. /msf_lidar_scan_matching/pose_sensor/init/q_ic/w: 1.0
    22. 

  22. /msf_lidar_scan_matching/pose_sensor/init/q_ic/x: 0.0
    23. 

  23. /msf_lidar_scan_matching/pose_sensor/init/q_ic/y: 0.0
    24. 

  24. /msf_lidar_scan_matching/pose_sensor/init/q_ic/z: 0.0
    25. 

  25. /msf_lidar_scan_matching/pose_sensor/init/p_ic/x: 0.0
    26. 

  26. /msf_lidar_scan_matching/pose_sensor/init/p_ic/y: 0.0
    27. 

  27. /msf_lidar_scan_matching/pose_sensor/init/p_ic/z: 0.0
    28. 

  28. 

  29. /msf_lidar_scan_matching/pose_sensor/pose_fixed_scale: true
    30. 

  30. /msf_lidar_scan_matching/pose_sensor/pose_fixed_p_ic: false
    31. 

  31. /msf_lidar_scan_matching/pose_sensor/pose_fixed_q_ic: false
    32. 

  32. /msf_lidar_scan_matching/pose_sensor/pose_fixed_p_wv: false
    33. 

  33. /msf_lidar_scan_matching/pose_sensor/pose_fixed_q_wv: false
    34. 

  34. 

  35. /msf_lidar_scan_matching/pose_sensor/pose_absolute_measurements: false
    36. 

  36. /msf_lidar_scan_matching/pose_sensor/pose_use_fixed_covariance: true
    37. 

  37. /msf_lidar_scan_matching/pose_sensor/pose_measurement_world_sensor: true  # selects if sensor measures its position w.r.t. world (true, e.g. Vicon) or the position of the world coordinate system w.r.t. the sensor (false, e.g. ethzasl_ptam
    38. 

  38. 

  39. /msf_lidar_scan_matching/pose_sensor/pose_measurement_minimum_dt: 0.05  # Sets the minimum time in seconds between two pose measurements.
    40.