params.yaml文件中的内容如下,注意这里的hilbert_h:和navsat:
hilbert_h:
pointCloudTopic: "/velodyne_points" # Point cloud data
imuTopic: "/imu/data" # IMU data
odomTopic: "odometry/imu" # IMU pre-preintegration odometry, same frequency as IMU
gpsTopic: "odometry/gps" # GPS odometry topic from navsat, see module_navsat.launch file
navsat:
frequency: 40
wait_for_datum: false
delay: 1.0
magnetic_declination_radians: 0
yaw_offset: 0
zero_altitude: false
broadcast_utm_transform: false
broadcast_utm_transform_as_parent_frame: false
publish_filtered_gps: false
使用时,在launch文件中加载该参数文件:
<rosparam file="$(find xxx)/config/params.yaml" command="load" />
加载后,即可在程序中使用参数,注意,此处的 hilbert_h/ 与上面的 hilbert_h: 相对应