minor update (#19)

* Update lio.yaml * Fix/pointcloud topic yaml (#17) * Add pointCloudTopic in yaml * Add pointCloudTopic in yaml
rsasaki0109 · May 6, 2023 · a7ba502 · a7ba502
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diff --git a/scanmatcher/param/lio.yaml b/scanmatcher/param/lio.yaml
@@ -1,9 +1,10 @@
 /**:
     ros__parameters:
       # LiDAR setting
-      sensor: velodyne
-      N_SCAN: 16
-      Horizon_SCAN: 1800
+      pointCloudTopic: "points_raw"
+      sensor: velodyne    # lidar sensor type, 'velodyne' or 'ouster' or 'livox'
+      N_SCAN: 16          # number of lidar channel (i.e., Velodyne/Ouster: 16, 32, 64, 128, Livox Horizon: 6)
+      Horizon_SCAN: 1800  # lidar horizontal resolution (Velodyne:1800, Ouster:512,1024,2048, Livox Horizon: 4000)
       # IMU setting
       imuTopic: "imu_raw"
       imuAccNoise: 3.9939570888238808e-03

diff --git a/scanmatcher/param/lio_bigloop.yaml b/scanmatcher/param/lio_bigloop.yaml
@@ -1,6 +1,7 @@
 /**:
     ros__parameters:
       # LiDAR setting
+      pointCloudTopic: "points_raw"
       sensor: velodyne
       N_SCAN: 16
       Horizon_SCAN: 1800