robosense.yaml

common:
    lid_topic:  "/rslidar_points"
    imu_topic:  "/gps/gtimu"

preprocess:
    lidar_type: 5                #1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for L515 LiDAR
    scan_line: 16
    blind: 1.0
    point_filter_num: 1
    calib_laser: false              # true for KITTI Odometry dataset

mapping:
    down_sample_size: 0.5
    max_iteration: 3
    voxel_size: 0.5
    max_layer: 4                # 4 layer, 0, 1, 2, 3
    layer_point_size: [5, 5, 5, 5, 5]
    plannar_threshold: 0.01
    max_points_size: 1000
    max_cov_points_size: 1000

noise_model:
    ranging_cov: 0.04
    angle_cov: 0.1
    acc_cov_scale: 1.0
    gyr_cov_scale: 0.5

imu:
    imu_en: true
    extrinsic_T: [ 0, 0, 0]
    extrinsic_R: [ 1, 0, 0, 
                   0, 1, 0, 
                   0, 0, 1]

visualization:
    pub_voxel_map: false
    publish_max_voxel_layer: 2        # only publish 0,1,2 layer's plane
    pub_point_cloud: true
    dense_map_enable: false
    pub_point_cloud_skip: 5             # publish one points per five points

Result:
    write_kitti_log: false
    result_path: "/home/ycj/catkin_github/src/VoxelMap/Log/kitt_log.txt"