params

Parameter	Default value	Description
General parameters
robot_name	"templatebot3000"	Robot name
use_ekf_prior	True	Run the EKF localisation node as SLAM prior
use_slam_loop_closure	True	Run the loop-closure and pose-graph optimisation SLAM node
compute_camera_lidar_projection	True	Run the node for camera data projection onto the LiDAR point cloud
number_of_cameras	3	Number of cameras for projection (min: 1, max: 3)
visualise	True	Run rviz2 to visualise SLAM outputs and colored point cloud
save_trajectories	False	Run the node to save the SLAM estimated trajectories as csv files
downsample_points_cloud	True	Downsample the LiDAR point cloud for the SLAM input
vg_size_for_slam	0.2	LiDAR point cloud downsampling grid size for SLAM input
vg_size_for_tsdf	0.2	LiDAR point cloud downsampling grid size for camera projection and TSDF input
Parameters and calibration files
ekf_param_file	'ekf_odom_imu_lidarslam.yaml'	YAML param file for ekf_localisation See robot_localisation wiki for EKF parameters description
lidarslam_param_file	'lidarslam_params.yaml'	YAML param file for lidarslam_ros2, See lidarslam_ros2 for SLAM parameters description
cameras_calibration_file	'camchain.yaml'	YAML camera calibration file from Kalibr, See Kalibr for calibration instructions
rviz_config_file	'olcmr_config.rviz'	Rviz2 config file
use_bag	True	Play a rosbag when launching the architecture
use_ros1_bag	False	Use a ROS1 bag (if True, noetic must be sourced before galactic when launching)
bag_file	'rosbag/bag'	Rosbag file
ROS2 Topics
lidar_point_cloud_topic	'/lidar/points'	LiDAR topic
imu_topic	'/IMU'	IMU topic
kinematic_odom_topic	'/odom'	Wheeled odometry topic
camera1_namespace	'/cam1'	First camera namespace
camera2_namespace	'/cam2'	Second camera namespace
camera3_namespace	'/cam3'	Third camera namespace
Frames and Tfs
map_frame	"map"	Global static frame
lidar_frame	"lidar"	LiDAR frame
camera1_frame	"cam1"	First camera frame
camera2_frame	"cam2"	Second camera frame
camera3_frame	"cam3"	Third camera frame
slam_frame	"slam_base_link"	Robot base frame obtained from SLAM front-end
ekf_frame	"ekf_base_link"	Robot base frame obtained from EKF localisation
publish_static_tf	True	Publish robot base / LiDAR and LiDAR / first camera tfs (others cameras are located with kalibr extrinsic parameters)
lidar_tf	['0','0','0','0','0','0']	Robot base / LiDAR tf
lidar_camera_tf	['0','0','0','0','0','0']	LiDAR / first camera tf
use_manually_defined_cameras_tf	False	If there is no extrinsic camera calibration (no overlap between cameras), define tfs between robot base and each camera frame
camera1_tf	['0','0','0','0','0','0']	Robot base / first camera tf
camera2_tf	['0','0','0','0','0','0']	Robot base / second camera tf
camera3_tf	['0','0','0','0','0','0']	Robot base / third camera tf