lyq/sweeper_200
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

使能imu

Browse Source
This commit is contained in:
lyq 2026-03-20 11:15:59 +08:00
parent e6f549cc2a
commit d11bb73beb
3 changed files with 9 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
src/perception/airy/rslidar_sdk-main/CMakeLists.txt
View File

@ -45,7 +45,7 @@ if(${ENABLE_SOURCE_PACKET_LEGACY})
add_definitions("-DENABLE_SOURCE_PACKET_LEGACY")
endif(${ENABLE_SOURCE_PACKET_LEGACY})
option(ENABLE_IMU_DATA_PARSE "Enable imu data parse" OFF)
option(ENABLE_IMU_DATA_PARSE "Enable imu data parse" ON)
if(${ENABLE_IMU_DATA_PARSE})
message(=============================================================)

8
src/perception/airy/rslidar_sdk-main/config/config_front.yaml
View File

@ -15,7 +15,7 @@ lidar:
msop_port: 6699 # Msop port of lidar
difop_port: 7788 # Difop port of lidar
imu_port:
0 # IMU port of lidar(only for RSAIRY, RSE1), 0 means no imu.
6688 # IMU port of lidar(only for RSAIRY, RSE1), 0 means no imu.
# If you want to use IMU, please first set ENABLE_IMU_DATA_PARSE to ON in CMakeLists.txt
user_layer_bytes: 0 # Bytes of user layer. thers is no user layer if it is 0
tail_layer_bytes: 0 # Bytes of tail layer. thers is no tail layer if it is 0
@ -43,8 +43,8 @@ lidar:
ros:
ros_frame_id: front_lidar #Frame id of packet message and point cloud message
ros_recv_packet_topic: /rslidar_packets #Topic used to receive lidar packets from ROS
ros_send_packet_topic: /rslidar_packets #Topic used to send lidar packets through ROS
ros_send_imu_data_topic: /rslidar_imu_data #Topic used to send imu data through ROS
ros_recv_packet_topic: /rslidar_packets/front_lidar #Topic used to receive lidar packets from ROS
ros_send_packet_topic: /rslidar_packets/front_lidar #Topic used to send lidar packets through ROS
ros_send_imu_data_topic: /rslidar_imu_data/front_lidar #Topic used to send imu data through ROS
ros_send_point_cloud_topic: /rslidar_points/front_lidar #Topic used to send point cloud through ROS
ros_queue_length: 100 #Topic QoS history depth

8
src/perception/airy/rslidar_sdk-main/config/config_rear.yaml
View File

@ -15,7 +15,7 @@ lidar:
msop_port: 9966 # Msop port of lidar
difop_port: 8877 # Difop port of lidar
imu_port:
0 # IMU port of lidar(only for RSAIRY, RSE1), 0 means no imu.
8866 # IMU port of lidar(only for RSAIRY, RSE1), 0 means no imu.
# If you want to use IMU, please first set ENABLE_IMU_DATA_PARSE to ON in CMakeLists.txt
user_layer_bytes: 0 # Bytes of user layer. thers is no user layer if it is 0
tail_layer_bytes: 0 # Bytes of tail layer. thers is no tail layer if it is 0
@ -43,8 +43,8 @@ lidar:
ros:
ros_frame_id: rear_lidar #Frame id of packet message and point cloud message
ros_recv_packet_topic: /rslidar_packets #Topic used to receive lidar packets from ROS
ros_send_packet_topic: /rslidar_packets #Topic used to send lidar packets through ROS
ros_send_imu_data_topic: /rslidar_imu_data #Topic used to send imu data through ROS
ros_recv_packet_topic: /rslidar_packets/rear_lidar #Topic used to receive lidar packets from ROS
ros_send_packet_topic: /rslidar_packets/rear_lidar #Topic used to send lidar packets through ROS
ros_send_imu_data_topic: /rslidar_imu_data/rear_lidar #Topic used to send imu data through ROS
ros_send_point_cloud_topic: /rslidar_points/rear_lidar #Topic used to send point cloud through ROS
ros_queue_length: 100 #Topic QoS history depth