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Updated calibrate_extrinsic_and_display_in_ros_cn (markdown)

livox
2020-05-07 21:48:13 +08:00
parent a8dedb84ed
commit 7fd2665ba3
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calibrate_extrinsic_and_display_in_ros_cn.md
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@@ -8,11 +8,11 @@
使用 Livox Viewer 标定外参的方法如下图 ：
![Calibrate_extrinsic](image_ros/calibrate_extrinsic_01.png)
![Calibrate_extrinsic_01](image_ros/calibrate_extrinsic_01.png)
设置与写入雷达外参数值
![Calibrate_extrinsic](image_ros/calibrate_extrinsic_02.png)
![Calibrate_extrinsic_02](image_ros/calibrate_extrinsic_02.png)
***注意事项 :***
@@ -34,7 +34,7 @@
进入以下文件路径： "../ws_livox/src/livox_ros_driver/config"，打开 livox_lidar_config.json 文件，如果只有一台设备，则只根据以下步骤修改对应的信息，如果有多台Livox雷达设备，则在 lidar_config 增加雷达的配置信息，再打开 Rviz 点云显示界面即可正常显示；
![Calibrate_extrinsic](image_ros/calibrate_extrinsic_03.png)
![Calibrate_extrinsic_03](image_ros/calibrate_extrinsic_03.png)
## 4. 打开Rviz显示点云效果
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`roslaunch livox_ros_driver livox_lidar_rviz.launch`
![Calibrate_extrinsic](image_ros/calibrate_extrinsic_05.png)
![Calibrate_extrinsic_04](image_ros/calibrate_extrinsic_05.png)
![Calibrate_extrinsic](image_ros/calibrate_extrinsic_05.png)
![Calibrate_extrinsic_05](image_ros/calibrate_extrinsic_05.png)