publish optimized map origin point for rviz_satellite plugs

LIO-SAM-6AXIS/config/outdoors_ouster128.yaml

@@ -5,22 +5,22 @@ lio_sam_6axis:
   pointCloudTopic: "/os_cloud_node/points"               # Point cloud data
   imuTopic: "/stim300/imu/data_raw"
   odomTopic: "odometry/imu"                   # IMU pre-preintegration odometry, same frequency as IMU
-  gpsTopic: "gps_odom"                   # GPS odometry topic from navsat, see module_navsat.launch file
+  gpsTopic: "fix"                   # GPS topic from navsat, see module_navsat.launch file
 
   # Frames
   lidarFrame: "base_link"
   baselinkFrame: "base_link"
   odometryFrame: "odom"
   mapFrame: "map"
 
-
   # GPS Settings
   useGPS: true
   gpsFrequence: 10                            # set proper gps frequence to align gps and lidar timestamp
   useImuHeadingInitialization: false           # if using GPS data, set to "true"
   useGpsElevation: true                      # if GPS elevation is bad, set to "false"
-  gpsCovThreshold: 15.0                        # m^2, threshold for using GPS data
+  gpsCovThreshold: 2.0                        # m^2, threshold for using GPS data
   poseCovThreshold: 0.02                      # m^2, threshold for using GPS data
+  gpsDistance: 0.5                           # the distance between two gps point used for optimization
 
   # debug setting
   debugLidarTimestamp: false
@@ -78,7 +78,7 @@ lio_sam_6axis:
   mappingProcessInterval: 0.15                  # seconds, regulate mapping frequency
 
   # Surrounding map
-  surroundingkeyframeAddingDistThreshold: 0.2   # meters, regulate keyframe adding threshold
+  surroundingkeyframeAddingDistThreshold: 0.1   # meters, regulate keyframe adding threshold
   surroundingkeyframeAddingAngleThreshold: 0.1  # radians, regulate keyframe adding threshold
   surroundingKeyframeDensity: 2.0               # meters, downsample surrounding keyframe poses
   surroundingKeyframeSearchRadius: 30.0         # meters, within n meters scan-to-map optimization (when loop closure disabled)
@@ -87,29 +87,17 @@ lio_sam_6axis:
   loopClosureEnableFlag: true
   loopClosureFrequency: 2.0                     # Hz, regulate loop closure constraint add frequency
   surroundingKeyframeSize: 30                   # submap size (when loop closure enabled)
-  historyKeyframeSearchRadius: 30.0             # meters, key frame that is within n meters from current pose will be considerd for loop closure
-  historyKeyframeSearchTimeDiff: 25.0           # seconds, key frame that is n seconds older will be considered for loop closure
+  historyKeyframeSearchRadius: 25.0             # meters, key frame that is within n meters from current pose will be considerd for loop closure
+  historyKeyframeSearchTimeDiff: 60.0           # seconds, key frame that is n seconds older will be considered for loop closure
   historyKeyframeSearchNum: 25                  # number of hostory key frames will be fused into a submap for loop closure
-  historyKeyframeFitnessScore: 0.8              # icp threshold, the smaller the better alignment
+  historyKeyframeFitnessScore: 0.9              # icp threshold, the smaller the better alignment
 
   # Visualization
   globalMapVisualizationSearchRadius: 1000.0    # meters, global map visualization radius
   globalMapVisualizationPoseDensity: 10.0       # meters, global map visualization keyframe density
   globalMapVisualizationLeafSize: 0.5           # meters, global map visualization cloud density
 
   # mapping
-  globalMapLeafSize: 0.1                        # saved map voxgrid size
-
-
-# Navsat (convert GPS coordinates to Cartesian)
-navsat:
-  frequency: 50
-  wait_for_datum: false
-  delay: 0.0
-  magnetic_declination_radians: 0
-  yaw_offset: 0
-  zero_altitude: true
-  broadcast_utm_transform: false
-  broadcast_utm_transform_as_parent_frame: false
-  publish_filtered_gps: false
+  globalMapLeafSize: 0.5                        # saved map voxgrid size
+
 

LIO-SAM-6AXIS/data/20220226_campus_road_day_ref/origin.txt

@@ -0,0 +1 @@
+22.334853527 114.263156263 135.678999999538