wanngwe/odin_ros_driver1
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<feat> compatible with odin1 firmware version 0.8.0

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1. add option to use host ros time as data timestamp, not recommanded unless specifically require this setup
2. only pub odm-map tf in relocal mode
3. add option to also not pub odm-base_link tf, not recommanded unless specifically require this setup
4. dev_status.csv now have device timestamp to better help analyzing
5. add control option to enable encrtypted device debug log, should only enable when instructed by official support
This commit is contained in:
mt-lifan
2025-12-02 17:06:17 +08:00
parent b4adaf355d
commit 5efa57da6e
8 changed files with 474 additions and 286 deletions
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config/control_command.yaml
+57 -10
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@@ -1,23 +1,70 @@
register_keys:
strict_usb3.0_check: 0 # 0: off: 1: on; if off, allow connection even if usb connection is below usb 3.0
# 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
streamctrl: 1 # 0: off; 1: on
sendrgb: 1 # 0: off; 1: on
sendimu: 1 # 0: off; 1: on
sendodom: 1 # 0: off; 1: on
senddtof: 1 # 0: off; 1: on
sendcloudslam: 1 # 0: off; 1: on
sendcloudrender: 1 # 0: off; 1: on
# original rgb data in jpeg format from device
sendrgbcompressed: 1 # 0: off; 1: on
# 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
senddepth: 0 # 0: off; 1: on
sendrgbundistort: 0 # 0: off; 1: on
# 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.
recorddata: 0 # 0: off; 1: on
devstatuslog: 1 # 0: off; 1: on
# 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.
pubintensitygray: 0 # 0: off; 1: on
showpath: 0 # 0: off; 1: on
showcamerapose: 0 # 0: off; 1: on
custom_save_map: 0
custom_map_mode: 0 # 0: Odometry mode 1: SLAM mode 2: Relocalization mode
custom_init_pos: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]
relocalization_map_abs_path: "" # must be set for Relocalization mode or will fail
mapping_result_dest_dir: "" # "": use default value; other: use custom value
mapping_result_file_name: "" # "": use default value; other: use custom value
mapping_result_file_name: "" # "": use default value; other: use custom value