mt-lifan
5efa57da6e
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
71 lines
2.8 KiB
YAML
71 lines
2.8 KiB
YAML
register_keys:
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# if off, allow connection even if usb connection is below usb 3.0
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# ATTENTION: usb 3.0 is always recommended, as advance functionality like SLAM mode requires usb 3.0 for reliable map file transfer
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strict_usb3.0_check: 0 # 0: off: 1: on;
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# 0: use odin internal system time as data time stamp as before, typical and recommanded;
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# 1: use host ros time (upon recieve) as data time stamp, only use if you specifically require this setup, not recommanded for most user
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use_host_ros_time: 0
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streamctrl: 1 # 0: off; 1: on
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# original rgb data in jpeg format from device
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sendrgbcompressed: 1 # 0: off; 1: on
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# RGB data, decoded from original jpeg data from device, bgr8 format
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# Processed on host device
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sendrgb: 1 # 0: off; 1: on
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# undistort rgb image processed from decoded rgb data.
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# depends on sendrgb. related camera parameters can be found in ws/src/odin_ros_driver/config/calib.yaml
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# Processed on host device
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sendrgbundistort: 0 # 0: off; 1: on.
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# IMU data
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sendimu: 1 # 0: off; 1: on
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# Odometry data
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sendodom: 1 # 0: off; 1: on
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# TF from odom to base_link. Leave it on unless you specifically need it off.
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# ATTENTION: critical for rviz to show cloud_raw.
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send_odom_baselink_tf: 1 # 0: off; 1: on.
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# raw dtof data
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senddtof: 1 # 0: off; 1: on
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# slam cloud data
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sendcloudslam: 1 # 0: off; 1: on
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# processed with raw point cloud, rgb image, and calib.yaml from device
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# Processed on host device
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sendcloudrender: 1 # 0: off; 1: on
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# depth completion demo, high computing resource usage.
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# for more information please refer to the readme file.
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# Processed on host device
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senddepth: 0 # 0: off; 1: on
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# record rgb, odometry, and slam cloud data as proprietary olx format for further processing in MindCloud(TM) software.
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# save path: ws/src/odin_ros_driver/recorddata/{record_start_time}/
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# ATTENTION: please copy the full folder for post-processing.
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recorddata: 0 # 0: off; 1: on
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# Save device runtime status info to ws/src/odin_ros_driver/log/Driver_{drvier_start_time}/Conn_{device_connection_time}/dev_status.csv
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devstatuslog: 1 # 0: off; 1: on.
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save_log: 0 # 0: off; 1: on;
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# raw dtof sensor intensity data in gray format, mostly for debug purpose.
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pubintensitygray: 0 # 0: off; 1: on
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showpath: 0 # 0: off; 1: on
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showcamerapose: 0 # 0: off; 1: on
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custom_save_map: 0
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custom_map_mode: 0 # 0: Odometry mode 1: SLAM mode 2: Relocalization mode
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custom_init_pos: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]
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relocalization_map_abs_path: "" # must be set for Relocalization mode or will fail
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mapping_result_dest_dir: "" # "": use default value; other: use custom value
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mapping_result_file_name: "" # "": use default value; other: use custom value
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