lio_sam发布rviz显现的话题

Posted 2021-09-11 COCO_PEAK_NOODLE

1-解释：去畸变后的点云数据

pubExtractedCloud = nh.advertise<sensor_msgs::PointCloud2> ("lio_sam/deskew/cloud_deskewed", 1);

2-解释：提取的角点点云信息

pubCornerPoints = nh.advertise<sensor_msgs::PointCloud2>("lio_sam/feature/cloud_corner", 1);

3-解释：提取的平面点点云信息

pubSurfacePoints = nh.advertise<sensor_msgs::PointCloud2>("lio_sam/feature/cloud_surface", 1);

4-解释：激光位姿关键帧，这个话题名称叫KeyPoses多好

pubKeyPoses = nh.advertise<sensor_msgs::PointCloud2>("lio_sam/mapping/trajectory", 1);

5-解释：每一帧的激光角点和平面点的累积（所有帧）

pubLaserCloudSurround = nh.advertise<sensor_msgs::PointCloud2>("lio_sam/mapping/map_global", 1);

6-解释：激光里程计

pubOdomAftMappedROS = nh.advertise<nav_msgs::Odometry>("lio_sam/mapping/odometry", 1);

7-解释：关键帧组成的路线，和pubKeyPoses内容一致，只是表现形式不同（一个是点，一个是线）。

pubPath = nh.advertise<nav_msgs::Path>("lio_sam/mapping/path", 1);

8-解释：靠近之前关键帧的角点和平面点的集合

pubHistoryKeyFrames = nh.advertise<sensor_msgs::PointCloud2>("lio_sam/mapping/icp_loop_closure_history_cloud", 1);

9-解释：发布闭环检测后（icp匹配）发布的点云

pubIcpKeyFrames = nh.advertise<sensor_msgs::PointCloud2>("lio_sam/mapping/icp_loop_closure_corrected_cloud", 1);

10-解释：计算激光里程计累计周围平面点的集合，怎么感觉是全部的平面点

pubRecentKeyFrames = nh.advertise<sensor_msgs::PointCloud2>("lio_sam/mapping/map_local", 1);

11-解释：所有帧匹配后的角点和平面点集合，这里作者写错了？

pubRecentKeyFrame = nh.advertise<sensor_msgs::PointCloud2>("lio_sam/mapping/cloud_registered", 1);

12-解释：当前帧匹配后的激光矫正后的点云

pubCloudRegisteredRaw = nh.advertise<sensor_msgs::PointCloud2>("lio_sam/mapping/cloud_registered_raw", 1);

13-解释：IMU测量的里程计

pubImuOdometry = nh.advertise<nav_msgs::Odometry> (odomTopic, 2000);

14:解释：IMU测量的路径

pubImuPath     = nh.advertise<nav_msgs::Path>     ("lio_sam/imu/path", 1);