2025-07-11 19:42:45 +08:00
|
|
|
register_keys:
|
2025-12-02 17:05:06 +08:00
|
|
|
# if off, allow connection even if usb connection is below usb 3.0
|
|
|
|
|
# ATTENTION: usb 3.0 is always recommended, as advance functionality like SLAM mode requires usb 3.0 for reliable map file transfer
|
|
|
|
|
strict_usb3.0_check: 0 # 0: off: 1: on;
|
|
|
|
|
|
|
|
|
|
# 0: use odin internal system time as data time stamp as before, typical and recommanded;
|
|
|
|
|
# 1: use host ros time (upon recieve) as data time stamp, only use if you specifically require this setup, not recommanded for most user
|
|
|
|
|
use_host_ros_time: 0
|
|
|
|
|
|
2025-10-31 15:06:47 +08:00
|
|
|
streamctrl: 1 # 0: off; 1: on
|
2025-12-02 17:05:06 +08:00
|
|
|
|
|
|
|
|
# original rgb data in jpeg format from device
|
2025-10-31 15:06:47 +08:00
|
|
|
sendrgbcompressed: 1 # 0: off; 1: on
|
2025-12-02 17:05:06 +08:00
|
|
|
|
|
|
|
|
# RGB data, decoded from original jpeg data from device, bgr8 format
|
|
|
|
|
# Processed on host device
|
|
|
|
|
sendrgb: 1 # 0: off; 1: on
|
|
|
|
|
|
|
|
|
|
# undistort rgb image processed from decoded rgb data.
|
|
|
|
|
# depends on sendrgb. related camera parameters can be found in ws/src/odin_ros_driver/config/calib.yaml
|
|
|
|
|
# Processed on host device
|
|
|
|
|
sendrgbundistort: 0 # 0: off; 1: on.
|
|
|
|
|
|
|
|
|
|
# IMU data
|
|
|
|
|
sendimu: 1 # 0: off; 1: on
|
|
|
|
|
|
|
|
|
|
# Odometry data
|
|
|
|
|
sendodom: 1 # 0: off; 1: on
|
|
|
|
|
|
|
|
|
|
# TF from odom to base_link. Leave it on unless you specifically need it off.
|
|
|
|
|
# ATTENTION: critical for rviz to show cloud_raw.
|
|
|
|
|
send_odom_baselink_tf: 1 # 0: off; 1: on.
|
|
|
|
|
|
|
|
|
|
# raw dtof data
|
|
|
|
|
senddtof: 1 # 0: off; 1: on
|
|
|
|
|
|
|
|
|
|
# slam cloud data
|
|
|
|
|
sendcloudslam: 1 # 0: off; 1: on
|
|
|
|
|
|
|
|
|
|
# processed with raw point cloud, rgb image, and calib.yaml from device
|
|
|
|
|
# Processed on host device
|
|
|
|
|
sendcloudrender: 1 # 0: off; 1: on
|
|
|
|
|
|
|
|
|
|
# depth completion demo, high computing resource usage.
|
|
|
|
|
# for more information please refer to the readme file.
|
|
|
|
|
# Processed on host device
|
2025-10-31 15:06:47 +08:00
|
|
|
senddepth: 0 # 0: off; 1: on
|
2025-12-02 17:05:06 +08:00
|
|
|
|
|
|
|
|
# record rgb, odometry, and slam cloud data as proprietary olx format for further processing in MindCloud(TM) software.
|
|
|
|
|
# save path: ws/src/odin_ros_driver/recorddata/{record_start_time}/
|
|
|
|
|
# ATTENTION: please copy the full folder for post-processing.
|
2025-10-31 15:06:47 +08:00
|
|
|
recorddata: 0 # 0: off; 1: on
|
2025-12-02 17:05:06 +08:00
|
|
|
|
|
|
|
|
# Save device runtime status info to ws/src/odin_ros_driver/log/Driver_{drvier_start_time}/Conn_{device_connection_time}/dev_status.csv
|
|
|
|
|
devstatuslog: 1 # 0: off; 1: on.
|
|
|
|
|
|
|
|
|
|
save_log: 0 # 0: off; 1: on;
|
|
|
|
|
|
|
|
|
|
# raw dtof sensor intensity data in gray format, mostly for debug purpose.
|
2025-10-31 15:06:47 +08:00
|
|
|
pubintensitygray: 0 # 0: off; 1: on
|
2025-12-02 17:05:06 +08:00
|
|
|
|
2025-10-31 15:06:47 +08:00
|
|
|
showpath: 0 # 0: off; 1: on
|
|
|
|
|
showcamerapose: 0 # 0: off; 1: on
|
2025-12-02 17:05:06 +08:00
|
|
|
|
2025-10-31 15:06:47 +08:00
|
|
|
custom_map_mode: 0 # 0: Odometry mode 1: SLAM mode 2: Relocalization mode
|
2025-10-29 10:27:41 +08:00
|
|
|
custom_init_pos: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]
|
2025-10-31 15:06:47 +08:00
|
|
|
relocalization_map_abs_path: "" # must be set for Relocalization mode or will fail
|
2026-01-19 17:21:59 +08:00
|
|
|
|
|
|
|
|
# To get the mapping result file, please use the set_param.sh script provided: "./set_param.sh save_map 1"
|
|
|
|
|
mapping_result_dest_dir: "" # "": if not specified, save to default location of {ws}/src/odin_ros_driver/map/{driver_start_time}/
|
|
|
|
|
mapping_result_file_name: "" # "": if not specified, save to location above with default file name of map_{map_save_time}.bin
|
