FallenSigh
a546aff1a6
New ROS2 package for wheel odometry + LiDAR localization. Includes: AMCL config (omni model, likelihood_field), gmapping config (5cm grid, 30 particles), YDLiDAR TminiPro config, launch files for lidar bringup, SLAM mapping, AMCL localization, and sensor calibration, plus RViz config with Map/LaserScan/Odometry displays. Ultraworked with [Sisyphus](https://github.com/code-yeongyu/oh-my-openagent) Co-authored-by: Sisyphus <clio-agent@sisyphuslabs.ai>
25 lines
547 B
YAML
25 lines
547 B
YAML
ydlidar_ros2_driver_node:
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ros__parameters:
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port: /dev/ttylzulaser
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frame_id: laser_frame
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ignore_array: ""
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baudrate: 230400
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lidar_type: 1
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device_type: 0
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sample_rate: 4
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intensity_bit: 8
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abnormal_check_count: 4
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fixed_resolution: true
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reversion: true
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inverted: true
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auto_reconnect: true
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isSingleChannel: false
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intensity: true
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support_motor_dtr: false
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angle_max: 180.0
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angle_min: -180.0
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range_max: 12.0
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range_min: 0.03
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frequency: 10.0
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invalid_range_is_inf: false
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