delete something about D455

coolaogege · Dec 11, 2022 · b567c56 · b567c56
1 parent 839467b
commit b567c56
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Showing 6 changed files with 2 additions and 182 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -8,8 +8,6 @@ find_package(catkin REQUIRED COMPONENTS
   geometry_msgs
   nav_msgs
   sensor_msgs
-  octomap_msgs
-  octomap_ros
   roscpp
   rospy
   rosbag
@@ -24,7 +22,6 @@ find_package(Eigen3)
 find_package(OpenCV 4.2 REQUIRED)
 find_package(PCL REQUIRED)
 find_package(Ceres REQUIRED)
-find_package(octomap REQUIRED)
 find_package(OpenMP QUIET)
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
 set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}   ${OpenMP_C_FLAGS}")
@@ -35,7 +32,6 @@ include_directories(
   ${catkin_INCLUDE_DIRS}
   ${PCL_INCLUDE_DIRS}
   ${EIGEN3_INCLUDE_DIRS}
-  ${OCTOMAP_INCLUDE_DIRS}
   ${CMAKE_CURRENT_SOURCE_DIR}
   ${CMAKE_CURRENT_BINARY_DIR}
 )
@@ -60,5 +56,3 @@ target_link_libraries(r2dio_odom_estimation_node ${EIGEN3_LIBRARIES} ${catkin_LI
 add_executable(r2dio_laser_mapping_node src/laserMappingNode.cpp src/utils.cpp src/laserMappingClass.cpp src/param.cpp)
 target_link_libraries(r2dio_laser_mapping_node ${EIGEN3_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${CERES_LIBRARIES} ${OpenCV_LIBS})
 
-add_executable(trajectory_listener src/tools/trajectory_listener.cpp)
-target_link_libraries(trajectory_listener ${catkin_LIBRARIES})
diff --git a/README.md b/README.md
@@ -1,4 +1,4 @@
-# SSL_SLAM3 
+# R2DIO
 ## Lightweight 3-D Localization and Mapping for Solid-State LiDAR (Intel Realsense L515 as an example)
 
 ### This work provides a basic fusion framework that fuses LiDAR and IMU information to improve the stability performance of SSL_SLAM

diff --git a/config/params455.yaml b/config/params455.yaml
diff --git a/launch/r2dio.launch b/launch/r2dio.launch
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <launch>
-    <node pkg="rosbag" type="play" name="rosbag_play" args="--clock -r 1 /home/frog/下载/record_12_6_F1_3.bag"/>
+    <node pkg="rosbag" type="play" name="rosbag_play" args="--clock -r 1 /media/universe/ssk/传输/Imu_Depth_Color_Points.bag"/>
     <param name="/use_sim_time" value="true" />
 
     <node pkg="tf" type="static_transform_publisher" name="word2map_tf"  args="0 0 0 1.57 3.14 1.57 /world /map 100" />

diff --git a/launch/r2dio_d455.launch b/launch/r2dio_d455.launch
diff --git a/src/tools/trajectory_listener.cpp b/src/tools/trajectory_listener.cpp