🎈 perf(demo_cmu): Mantain configurations

pb2025_nav_bringup/config/simulation/cmu_nav_params.yaml

@@ -1,3 +1,78 @@
+point_lio:
+  ros__parameters:
+    use_imu_as_input: False                             # Change to True to use IMU as input of Point-LIO
+    prop_at_freq_of_imu: True
+    check_satu: True
+    init_map_size: 10
+    point_filter_num: 4                                 # Options: 4, 3
+    space_down_sample: True
+    filter_size_surf: 0.5                               # Options: 0.5, 0.3, 0.2, 0.15, 0.1
+    filter_size_map: 0.5                                # Options: 0.5, 0.3, 0.15, 0.1
+    ivox_nearby_type: 18                                # Options: 0, 6, 18, 26
+    runtime_pos_log_enable: False                       # Option: True
+
+    common:
+      lid_topic: "velodyne_points"
+      imu_topic: "livox/imu"
+      con_frame: False                                  # True: if you need to combine several LiDAR frames into one
+      con_frame_num: 1                                  # the number of frames combined
+      cut_frame: False                                  # True: if you need to cut one LiDAR frame into several subframes
+      cut_frame_time_interval: 0.05                     # should be integral fraction of 1 / LiDAR frequency
+      time_diff_lidar_to_imu: 0.0                       # Time offset between LiDAR and IMU calibrated by other algorithms, e.g., LI-Init (find in Readme)
+
+    prior_pcd:
+      enable: False
+      # NOTE: `prior_pcd_map_path` will be provided in the launch file
+      # prior_pcd_map_path: ""
+      init_pose: [ 0.0, 0.0, 0.0 ]
+
+    preprocess:
+      lidar_type: 2                                     # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR
+      scan_line: 32
+      timestamp_unit: 2                                 # the unit of time/t field in the PointCloud2 rostopic: 0-second, 1-milisecond, 2-microsecond, 3-nanosecond.
+      blind: 0.5
+
+    mapping:
+      imu_en: True
+      extrinsic_est_en: False                           # for aggressive motion, set this variable False
+      imu_time_inte: 0.005                              # = 1 / frequency of IMU
+      lidar_time_inte: 0.1
+      satu_acc: 30.0                                    # the saturation value of IMU's acceleration. not related to the units
+      satu_gyro: 35.0                                   # the saturation value of IMU's angular velocity. not related to the units
+      acc_norm: 9.81                                    # 1.0 for g as unit, 9.81 for m/s^2 as unit of the IMU's acceleration
+      lidar_meas_cov: 0.001                             # 0.001
+      acc_cov_output: 500.0
+      gyr_cov_output: 1000.0
+      b_acc_cov: 0.0001
+      b_gyr_cov: 0.0001
+      imu_meas_acc_cov: 0.1                             # 0.1 # 2
+      imu_meas_omg_cov: 0.1                             # 0.1 # 2
+      gyr_cov_input: 0.01                               # for IMU as input model
+      acc_cov_input: 0.1                                # for IMU as input model
+      plane_thr: 0.1                                    # 0.05, the threshold for plane criteria, the smaller, the flatter a plane
+      match_s: 81.0
+      ivox_grid_resolution: 0.5
+      gravity: [ 0.0, -4.9, -8.487047153776548 ]        # gravity to be aligned # rpy = [0, pi/6, 0]
+      gravity_init: [ 0.0, -4.9, -8.487047153776548 ]   # preknown gravity in the first IMU body frame, use when imu_en is False or start from a non-stationary state
+      extrinsic_T: [ 0.0, 0.0, 0.0 ]
+      extrinsic_R: [ 1.0, 0.0, 0.0,
+                      0.0, 1.0, 0.0,
+                      0.0, 0.0, 1.0 ]
+
+    odometry:
+      publish_odometry_without_downsample: True
+
+    publish:
+      path_en: False                                    # False: close the path output
+      scan_publish_en: True                             # False: close all the point cloud output
+      scan_bodyframe_pub_en: False                      # True: output the point cloud scans in IMU-body-frame
+      tf_send_en: False                                 # True: send transform from 'camera_init' to 'aft_mapped'
+
+    pcd_save:
+      pcd_save_en: False
+      interval: -1                                      # how many LiDAR frames saved in each pcd file;
+                                                        # -1 : all frames will be saved in ONE pcd file, may lead to memory crash when having too much frames.
+
 loam_interface:
   ros__parameters:
     use_sim_time: True
@@ -14,6 +89,16 @@ sensor_scan_generation:
     base_frame: "base_footprint"
     robot_base_frame: "gimbal_yaw"
 
+fake_vel_transform:
+  ros__parameters:
+    use_sim_time: True
+    odom_topic: "odometry"
+    robot_base_frame: "gimbal_yaw"
+    fake_robot_base_frame: "gimbal_yaw_fake"
+    input_cmd_vel_topic: "cmd_vel_controller"
+    output_cmd_vel_topic: "cmd_vel"
+    spin_speed: 3.14
+
 terrain_analysis:
   ros__parameters:
     scanVoxelSize: 0.05

pb2025_nav_bringup/launch/demo_cmu_launch.py

@@ -51,10 +51,6 @@ def generate_launch_description():
         replacements={"<robot_namespace>": ("/", namespace)},
     )
 
-    point_lio_params_dir = os.path.join(
-        bringup_dir, "config", "simulation", "point_lio.yaml"
-    )
-
     stdout_linebuf_envvar = SetEnvironmentVariable(
         "RCUTILS_LOGGING_BUFFERED_STREAM", "1"
     )
@@ -127,11 +123,22 @@ def generate_launch_description():
                 name="point_lio",
                 output="screen",
                 parameters=[
-                    point_lio_params_dir,
+                    configured_params,
                     {"prior_pcd.prior_pcd_map_path": prior_pcd_file},
                 ],
                 remappings=remappings,
             ),
+            Node(
+                package="fake_vel_transform",
+                executable="fake_vel_transform_node",
+                name="fake_vel_transform",
+                output="screen",
+                respawn=use_respawn,
+                respawn_delay=2.0,
+                parameters=[configured_params],
+                arguments=["--ros-args", "--log-level", log_level],
+                remappings=remappings,
+            ),
             Node(
                 package="sensor_scan_generation",
                 executable="sensor_scan_generation_node",
@@ -185,7 +192,7 @@ def generate_launch_description():
                 respawn_delay=2.0,
                 parameters=[configured_params],
                 arguments=["--ros-args", "--log-level", log_level],
-                remappings=remappings,
+                remappings=remappings + [("cmd_vel", "cmd_vel_controller")],
             ),
         ]
     )