learning_loam/loam_velodyne/launch/loam_velodyne_octomap.launch at master · yzrobot/learning_loam · GitHub

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<launch>

  <arg name="rviz" default="true" />
  <arg name="scanPeriod" default="0.1" />

  <node pkg="loam_velodyne" type="multiScanRegistration" name="multiScanRegistration" output="screen">
    <param name="lidar" value="HDL-32" /> <!-- options: VLP-16  HDL-32  HDL-64E -->
    <param name="scanPeriod" value="$(arg scanPeriod)" />
    <remap from="/multi_scan_points" to="/velodyne_points" />
  </node>

<!-- rosbag play -->
<arg name="bag"/>
<param name="use_sim_time" value="true"/>
<node pkg="rosbag" type="play" name="rosbag_play" args=" --clock $(find loam_velodyne)/../ressources/one_velodyne.bag" required="true"/>


  <node pkg="velodyne_pointcloud" type="cloud_node" name="cloud_node">
    <param name="calibration" value="$(find velodyne_pointcloud)/params/32db.yaml"/>
    <param name="min_range" value="0.4"/>
    <param name="max_range" value="130.0"/>
  </node>


  <node pkg="loam_velodyne" type="laserOdometry" name="laserOdometry" output="screen" respawn="true">
    <param name="scanPeriod" value="$(arg scanPeriod)" />
  </node>

  <node pkg="loam_velodyne" type="laserMapping" name="laserMapping" output="screen">
    <param name="scanPeriod" value="$(arg scanPeriod)" />
  </node>

  <node pkg="loam_velodyne" type="transformMaintenance" name="transformMaintenance" output="screen">
  </node>

  <node pkg="octomap_server" type="octomap_server_node" name="octomap_server" output="screen">

          <!-- Resolution in meter for the map when starting with an empty map.
          Otherwise the loaded file's resolution is used. -->
          <param name="resolution" value="0.2" />

          <!-- fixed map frame (set to 'map' if SLAM or localization running!) -->
          <param name="frame_id" type="string" value="camera_init" />

          <!-- Maximum range in meter for inserting point cloud data when dynamically building a map.
          Limiting the range to something useful (e.g. 5m) prevents spurious erroneous points far away from the robot. -->
          <param name="sensor_model/max_range" value="15" />

          <!-- Whether topics are published latched or only once per change.
          For maximum performance when building a map (with frequent updates), set to false.
          When set to true, on every map change all topics and visualizations will be created. -->
          <param name="latch" value="false" />

          <!-- Whether visualization should encode height with different colors -->
          <param name="height_map" value ="true" />


          <!-- data source to integrate (PointCloud2) I would integrat velodyne_cloud_registered -->

          <remap from="cloud_in" to="/velodyne_cloud_3"/>
  </node>

  <group if="$(arg rviz)">
    <node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find loam_velodyne)/rviz_cfg/loam_velodyne_octomap.rviz" />
  </group>

</launch>