mola_lidar_odometry/mola-cli-launchs/lidar_odometry_from_rawlog.yaml at develop · MOLAorg/mola_lidar_odometry · GitHub

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# -----------------------------------------------------------------------------
#                        SLAM system definition for MOLA
# This file defines:
# An input sensor from a ROS 2 topic, and the MOLA Visualizer.
# -----------------------------------------------------------------------------

modules:
  # =====================
  # MolaViz
  # =====================
  - name: viz
    type: ${MOLA_GUI_MODULE|mola::MolaVizImGui}
    enabled: ${MOLA_WITH_GUI|true}
    verbosity_level: "${MOLA_VERBOSITY_MOLA_VIZ|INFO}"
    params:
      imgui_app_name: lidar_odometry_from_rawlog

  # Offline or online sensory data sources =====================
  # =====================
  # KittiOdometryDataset
  # =====================
  - name: dataset_input
    type: mola::RawlogDataset
    execution_rate: 150 # Hz
    #verbosity_level: INFO
    quit_mola_app_on_dataset_end: ${MOLA_QUIT_ON_DATASET_END|false}

    gui_preview_sensors:
      - raw_sensor_label: ${MOLA_LIDAR_NAME|lidar}
        decimation: 1
        enabled: ${MOLA_WITH_GUI|true}
        win_pos: 5 40 600 200 # [x,y,width,height]
      - raw_sensor_label: ${MOLA_CAMERA_NAME|camera}
        decimation: 1
        enabled: ${MOLA_WITH_GUI|true}
        win_pos: 5 370 600 200
    params:
      rawlog_filename: ${MOLA_INPUT_RAWLOG}
      time_warp_scale: ${MOLA_TIME_WARP|1.0}
      read_all_first: ${MOLA_INPUT_RAWLOG_READ_ALL_FIRST|false} # read from disk as needed
      start_paused: ${MOLA_DATASET_START_PAUSED|false}

  - name: lidar_odom
    type: mola::LidarOdometry
    verbosity_level: "${MOLA_VERBOSITY_MOLA_LO|INFO}"
    raw_data_source: "dataset_input"
    # This includes here a whole block "params: (...)"
    # with the LIDAR-Odometry pipeline configuration:
    params: "${MOLA_ODOMETRY_PIPELINE_YAML|../pipelines/lidar3d-default.yaml}"

  - name: state_estimation
    type: "${MOLA_STATE_ESTIMATOR|mola::state_estimation_simple::StateEstimationSimple}"
    verbosity_level: "${MOLA_VERBOSITY_MOLA_STATE_ESTIMATOR|INFO}"
    raw_data_source: "dataset_input"

    # This includes here a whole block "params: (...)":
    params: "${MOLA_STATE_ESTIMATOR_YAML|../state-estimator-params/state-estimation-simple.yaml}"