2026-03-24 13:21:06 +08:00
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lidar_merger:
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ros__parameters:
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# 基本参数
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front_topic: "/rslidar_points/front_lidar"
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rear_topic: "/rslidar_points/rear_lidar"
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output_topic: "/rslidar_points"
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frame_id: "rslidar"
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queue_size: 3
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time_tolerance: 0.1
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enable_debug: false
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# 点云范围过滤
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filter_min_x: -5.0
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filter_max_x: 10.0
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filter_min_y: -5.0
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filter_max_y: 5.0
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2026-03-25 13:51:49 +08:00
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filter_min_z: 0.1
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filter_max_z: 0.9
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2026-03-24 13:21:06 +08:00
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# 体素降采样
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voxel_size: 0.1
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# 离群点去除 (SOR)
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stat_mean_k: 30
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stat_std_thresh: 1.5
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sor_method: 1
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radius_search: 0.5
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min_neighbors: 3
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# 地面分割 (PMF)
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enable_ground_segmentation: true
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ground_max_window_size: 32
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ground_slope: 1.0
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ground_initial_distance: 0.3
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ground_max_distance: 2.5
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# 栅格可视化
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grid_size: 50
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grid_range: 15.0
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enable_print: false
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# GPU
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use_gpu: true
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# 车身过滤
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filter_car: true
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2026-03-25 13:51:49 +08:00
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car_length: 1.9
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2026-03-24 13:21:06 +08:00
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car_width: 1.34
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car_lidar_offset_x: 0.0
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car_lidar_offset_y: 0.0
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# 扫刷过滤
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filter_brush: true
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# 右扫刷
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brush_r_min_x: 0.85
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brush_r_max_x: 1.25
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brush_r_min_y: 0.60
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brush_r_max_y: 0.96
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brush_r_min_z: 1.20
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brush_r_max_z: 1.65
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# 左扫刷
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brush_l_min_x: 0.85
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brush_l_max_x: 1.25
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brush_l_min_y: -0.96
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brush_l_max_y: -0.60
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brush_l_min_z: 1.20
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brush_l_max_z: 1.65
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