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Dev/heap example #74

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Dev/heap example #74

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98764f9
add example for rsl_heap
Idate96 Feb 8, 2023
543ca90
modified configs for heap
nubertj Feb 9, 2023
6e58f3a
update heap example with master
nubertj Jul 21, 2023
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39 changes: 39 additions & 0 deletions ros/open3d_slam_ros/launch/examples/rsl_heap.launch
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Original file line number Diff line number Diff line change
@@ -0,0 +1,39 @@
<?xml version="1.0" encoding="UTF-8"?>

<launch>

<arg name="launch_prefix" default="" doc="gdb -ex run --args"/>
<arg name="launch_rviz" default="false" />
<arg name="cloud_topic" default="/ouster_points_self_filtered" />
<arg name="parameter_filename" default="param_ouster_os0_128.lua"/>
<arg name="parameter_folder_path" default="$(find open3d_slam_ros)/param/"/>
<arg name="map_saving_folder" default="$(find open3d_slam_ros)/data/maps/"/>
<arg name="num_accumulated_range_data" default="1"/>
<arg name="is_read_from_rosbag" default="false"/>
<arg name="rosbag_filepath" default=""/>
<arg name="use_sim_time" default="false"/>


<!-- END OF ARGS -->

<param name="/use_sim_time" value="$(arg use_sim_time)" />

<node name="mapping_node" pkg="open3d_slam_ros"
type="mapping_node" output="screen" launch-prefix="$(arg launch_prefix)">

<param name="cloud_topic" type="string" value="$(arg cloud_topic)" />
<param name="parameter_folder_path" type="string" value="$(arg parameter_folder_path)" />
<param name="parameter_filename" type="string" value="$(arg parameter_filename)" />
<param name="num_accumulated_range_data" value="$(arg num_accumulated_range_data)"/>
<param name="is_read_from_rosbag" value="$(arg is_read_from_rosbag)"/>
<param name="rosbag_filepath" value="$(arg rosbag_filepath)"/>
<param name="map_saving_folder" value="$(arg map_saving_folder)"/>
</node>


<include
file="$(find open3d_slam_ros)/launch/vis.launch"
if="$(arg launch_rviz)">
</include>

</launch>
2 changes: 2 additions & 0 deletions ros/open3d_slam_ros/param/param_ouster_os0_128.lua
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Expand Up @@ -6,8 +6,10 @@ params = deepcopy(DEFAULT_PARAMETERS)
--ODOMETRY
params.odometry.scan_processing.voxel_size = 0.15
params.odometry.scan_processing.downsampling_ratio = 0.5
params.odometry.is_publish_odometry_msgs = true

--MAPPER_LOCALIZER
params.mapper_localizer.is_attempt_loop_closures = false
params.mapper_localizer.is_merge_scans_into_map = false
params.mapper_localizer.is_build_dense_map = false
params.mapper_localizer.is_use_map_initialization = false
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