<launch>
<node pkg="octomap_server" type="octomap_server_node" name="octomap_server">
<!--resolution in meters per pixel-->
<param name="resulution" value="0.6" />
<!--name of the fixed frame,needs to be "/map" for SLAM-->
<param name="frame_id" type="string" value="/map" />
<!--max range/depth resolution of the kinect meters-->
<param name="sensor_model/max_range" value="5.0" />
<param name="latch" value="true" />
<!--max/min height for occupancy map, should be in meters-->
<param name="pointcloud_max_z" value="5" />
<param name="pointcloud_min_z" value="0" />
<param name="graound_filter_angle" value="3.14" />
<!--topic from where pointcloud2 messages are subscribed-->
<remap from="/cloud_in" to="/lio_sam/mapping/cloud_registered" />
</node>
</launch>
我来解释下各个参数的含义:
resolution:分辨率或精度,越小精度越高计算需要资源越庞大
frame_id:世界坐标系的话题,即圆点坐标系
sensor_model/max_range:扫描的最大距离
cloud_in:点云话题
pointcloud_max_z:最大的Z扫描值
pointcloud_min_z:最小的Z扫描值(激光雷达和垂直平面有一定距离)
当然,还有其他可选参数:
1.剔除地面点的
加上的话类似这样:
XML复制代码
<launch>
<node pkg="octomap_server" type="octomap_server_node" name="octomap_server">
<!--resolution in meters per pixel-->
<param name="resulution" value="0.6" />
<!--name of the fixed frame,needs to be "/map" for SLAM-->
<param name="frame_id" type="string" value="/map" />
<!--max range/depth resolution of the kinect meters-->
<param name="sensor_model/max_range" value="1000.0" />
<param name="latch" value="true" />
<!--max/min height for occupancy map, should be in meters-->
<param name="pointcloud_max_z" value="5" />
<param name="pointcloud_min_z" value="-1.5" />
<param name="filter_ground" value="true" />
<param name="ground_filter/distance" value="0.05" />
<param name="ground_filter/angle" value="0.2" />
<!--topic from where pointcloud2 messages are subscribed-->
<remap from="/cloud_in" to="/lio_sam/mapping/cloud_registered" />
</node>
</launch>