LiDAR mapping
1. Access the onboard computer and change the PCD file save parameter. 2. Open the Prometheus ground control station and connect it to the UAV. 3. Right click a blank area in th…
1 min read · English documentation- Access the onboard computer and change the PCD file save parameter.
- Open the Prometheus ground control station and connect it to the UAV.
- Right-click a blank area in the ground control station, select Positioning Source Switching, and click MID360 (switch to LiDAR-based localization).
- Use NoMachine to connect to the onboard computer, navigate to the /home/amov/p450_experiment/src/p450_experiment/config/mid360_config directory, double-click the mid360.yaml file to open it, and change the pcd_save_en parameter on line 33 to true.
Tip
Starting LiDAR-based localization begins mapping. The pcd file is saved to the specified path only when the pcd file save parameter is changed.
- Ensure that the ground control station is connected.
- Right-click a blank area.
- Select Positioning Source Switching.
- Click MID360 (switch to LiDAR-based localization).
View the saved .pcd map on the onboard computer
PCL tools are preinstalled on the onboard computer. Run the following command directly in the terminal to view the pcd file:
pcl_viewer /home/amov/p450_experiment/src/Prometheus/Modules/FAST_LIO/PCD/scans.pcd
