livox mid 360 about simple_ndt_slam HOT 4 CLOSED

lidar_frame: "livox_frame"
lidar_topic: "livox/lidar"
odom_topic : ""
imu_topic  : ""

# output things ================ >
odom_lidar_topic : "/repub_points"  # sensor_msgs::PointCloud2
output_odom_topic: "/auto_odom"   # nav_msgs::Odometry

debug_print: true  # will republish point with current timestamp
use_odom   : false
use_imu    : false

imu_upside_down: false  # whether inverse the imu axis
odom_inverse: true
incremental_voxel_update: true

# setting -1 mean it will output the whole ndt map ===> FOR THE WHOLE MAP
# setting 10 mean 10*frame_point_num will be saved ===> FOR FAST LOC
save_frame_point: -1

baselink2LiDAR: [0, 0, 0, 0, 1.0, 0] # x,y,z, roll, pitch, yaw

# parameter's for ndt =========================== >
# Cell Size while mapping using ND (meters) (default 1.0)
resolution: 0.3

# Increment value between iterations while matching (default 0.1)
step_size: 0.1

# Value to decide convergence between iterations (meters) (default 0.01)
trans_epsilon: 0.01

# Maximum number of iterations before stopping matching (default 30)
max_iterations: 30

# Voxel Grid Size of the input scan (downsampling) (default 1.0)
leaf_size: 0.3

# Ignore points closer than this value (meters) (default 5.0)
min_scan_range: 0.1

# Ignore points far than this value (meters) (default 200.0)
max_scan_range: 20.0

# Minimum distance between points to be added to the final map (default 1.0)
min_add_scan_shift: 0.3