wanngwe/odin_ros_driver1
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<feat> v0.8.0, compatible with odin1 firmware version 0.9.0

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1. Update api lidar_get_version which now return a data structure for detailed device firmware version info. Allowed force exit when device firmware version is lower than required.
2. Removed custom_save_map parameter from config yaml to reduce confusion. Added description on how to use it properly instead.
3. Added print message on relocalization sucess, indicated by recieve LIDAR_DT_SLAM_ODOMETRY_TF data type from device
This commit is contained in:
mt-lifan
2026-01-19 17:21:59 +08:00
parent 7be813da89
commit e51cf98658
9 changed files with 266 additions and 36 deletions
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config/control_command.yaml
+4 -3
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@@ -62,9 +62,10 @@ register_keys:
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
# 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