loosely eskf

YZH-bot · Feb 27, 2024 · 40dc64d · 40dc64d
1 parent 618e75d
commit 40dc64d
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Showing 3 changed files with 5 additions and 5 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -24,8 +24,8 @@ include_directories(/usr/local/include/eigen3)
 set(Sophus_LIBRARIES libSophus.so)
 
 # GNSS
-find_package (GeographicLib REQUIRED)
-include_directories(${GeographicLib_INCLUDE_DIRS})
+# find_package (GeographicLib REQUIRED)
+# include_directories(${GeographicLib_INCLUDE_DIRS})
 
 find_package(Glog)
 

diff --git a/launch/loosely_lio.launch b/launch/loosely_lio.launch
@@ -1,7 +1,7 @@
 <launch>
-    <node pkg="rviz"  type="rviz"  name="ndt_odometry"  args="-d $(find icp_odometry)/rviz/front_end.rviz"></node>
+    <node pkg="rviz"  type="rviz"  name="ndt_odometry"  args="-d $(find slam_box)/rviz/front_end.rviz"></node>
 
-    <node pkg="icp_odometry"  type="loosely_lio_node"  name="loosely_lio_node"  output="screen">
+    <node pkg="slam_box"  type="loosely_lio_node"  name="loosely_lio_node"  output="screen">
         <!-- <rosparam param="cloud_topic">"/kitti_velo"</rosparam> -->
         <!-- <rosparam param="imu_topic">"/imu_correct"</rosparam> -->
         <!-- <rosparam param="cloud_topic">"/points_raw"</rosparam> -->

diff --git a/src/nodes/loosely_lio_node.cpp b/src/nodes/loosely_lio_node.cpp
@@ -44,7 +44,7 @@ int main(int argc, char *argv[])
     // 初始化 lio
     Odometry::loosely_lio::Options options;
     Odometry::loosely_lio lio(options);
-    lio.Init("/home/robot-nuc12/catkin_ws/src/slam/simple_icp/icp_odometry/config/velodyne_ulhk.yaml");
+    lio.Init("/home/robot-nuc12/catkin_ws/src/slam/simple_icp/slam_box/config/velodyne_ulhk.yaml");
 
     ros::Rate rate(10);
     while (ros::ok())