SLAM: add localization-only launch and params#5
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harryyangzy wants to merge 1 commit into
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Triage note from AP1 bringup: this adds a separate localization-only launch/config. It may overlap with #4 and should be reviewed together with the Kitware localization plan. Not required for the immediate AP1 bag smoke test, but useful once the team is ready to run localization against a saved map. |
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Merge Request / Pull Request
Summary of Changes
Added a launch file and params YAML for running Kitware LiDAR SLAM in localization-only mode with a prebuilt map.
The launch exposes a
map_fileargument and disables mapping so it should only estimate pose.This addresses the localization-only SLAM task and depends on SLAM-001 for the actual SLAM install.
Type of Change
Checklist (to be completed before review)
Related Issue / Task
Notes / Additional Context
I’m not 100% sure it runs yet since SLAM-001 isn’t installed. I also tried to follow the documentation to the best of my ability and used like a good amount of ai... let me know if it works!!