add flag for combined_img; enable send sync cloud slam

2026-04-09 14:17:10 +08:00
parent e325ea577f
commit 77fac3f793
3 changed files with 85 additions and 52 deletions
@@ -77,6 +77,8 @@ register_keys:
  sync_topic_prefix: "/odin1/sync"
  combined_compressed_topic: "/odin1/combined_image/compressed"
  combined_jpeg_quality: 85
+  # 0: 不发布 combined 拼接 JPEG，不创建该 publisher（省 CPU/带宽）；1: 发布 depth|camera 拼接图
+  send_combined_compressed: 0

  # 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}/