<launch>
<!-- 设置地图边界（超出该区域的不会被建图） -->
<arg name
="map_size_x_" value
="50.0"/>
<arg name
="map_size_y_" value
="30.0"/>
<arg name
="map_size_z_" value
=" 5.0"/>
<!-- 相机内参 -->
<arg name
="cx" value
="32
1.046
3867
1875"/>
<arg name
="cy" value
="243.44969
177246094"/>
<arg name
="fx" value
="
387.229248046875"/>
<arg name
="fy" value
="
387.229248046875"/>
<!--设置为感知距离的
1.5倍-->
<arg name
="planning_horizon" value
="7.5"/>
<!-- 设置飞行时的最大速度和加速度 -->
<arg name
="max_vel" value
="
1"/>
<arg name
="max_acc" value
="
1"/>
<!-- 预设目标点数 -->
<arg name
="
point_num" value
="5" />
<!-- 目标点为相对里程计初始化点的x、y、z坐标，单位 m -->
<arg name
="
point0_x" value
="
1.0" />
<arg name
="
point0_y" value
="0.0" />
<arg name
="
point0_z" value
="
1.0" />
<arg name
="
point1_x" value
="2.0" />
<arg name
="
point1_y" value
="0.0" />
<arg name
="
point1_z" value
="
1.0" />
<arg name
="
point2_x" value
="
1.0" />
<arg name
="
point2_y" value
="0.0" />
<arg name
="
point2_z" value
="
1.0" />
<arg name
="
point3_x" value
="0.0" />
<arg name
="
point3_y" value
="0.0" />
<arg name
="
point3_z" value
="
1.0" />
<arg name
="
point4_x" value
="0.0" />
<arg name
="
point4_y" value
="0.0" />
<arg name
="
point4_z" value
="
1.0" />
<arg name
="
point5_x" value
="0.0" />
<arg name
="
point5_y" value
="0.0" />
<arg name
="
point5_z" value
="
1.0" />
<arg name
="use_distinctive_trajs" value
="true" />
<arg name
="obj_num_set" value
="
10" />
<arg name
="drone_id" default
="0" />
<!--
1: use 2D Nav Goal to select goal -->
<!-- 2: use global way
points below -->
<!-- 4: use REMOTE_TARGET -->
<!-- 5: use REMOTE_START -->
<arg name
="flight_type"/>
<arg name
="odometry_topic"/>
<arg name
="camera_pose_topic"/>
<arg name
="depth_topic"/>
<!-- 未选配激光雷达的设备暂未启用 -->
<arg name
="cloud_topic"/>
<!-- main node -->
<node pkg
="ego_planner" name
="drone_$(arg drone_id)_ego_planner_node" type
="ego_planner_node" output
="screen">
<remap from
="~odom_world" to
="$(arg odometry_topic)"/>
<remap from
="~planning/bspline" to
= "/drone_$(arg drone_id)_planning/bspline"/>
<remap from
="~planning/data_display" to
= "/drone_$(arg drone_id)_planning/data_display"/>
<remap from
="~planning/broadcast_bspline_from_planner" to
= "/broadcast_bspline"/>
<remap from
="~planning/broadcast_bspline_to_planner" to
= "/broadcast_bspline2"/>
<remap from
="~grid_map/odom" to
="$(arg odometry_topic)"/>
<remap from
="~grid_map/cloud" to
="/drone_$(arg drone_id)_$(arg cloud_topic)"/>
<remap from
="~grid_map/pose" to
= "/drone_$(arg drone_id)_$(arg camera_pose_topic)"/>
<remap from
="~grid_map/depth" to
= "$(arg depth_topic)"/>
<!-- planning fsm -->
<param name
="fsm/flight_type" value
="$(arg flight_type)" type
="int"/>
<param name
="fsm/thresh_replan_time" value
="
1.0" type
="double"/>
<param name
="fsm/thresh_no_replan_meter" value
="
1.0" type
="double"/>
<param name
="fsm/planning_horizon" value
="$(arg planning_horizon)" type
="double"/> <!--always set to
1.5 times grater than sensing horizen-->
<param name
="fsm/planning_horizen_time" value
="3" type
="double"/>
<param name
="fsm/emergency_time" value
="
1.0" type
="double"/>
<param name
="fsm/realworld_experiment" value
="false"/>
<param name
="fsm/fail_safe" value
="true"/>
<param name
="fsm/way
point_num" value
="$(arg
point_num)" type
="int"/>
<param name
="fsm/way
point0_x" value
="$(arg
point0_x)" type
="double"/>
<param name
="fsm/way
point0_y" value
="$(arg
point0_y)" type
="double"/>
<param name
="fsm/way
point0_z" value
="$(arg
point0_z)" type
="double"/>
<param name
="fsm/way
point1_x" value
="$(arg
point1_x)" type
="double"/>
<param name
="fsm/way
point1_y" value
="$(arg
point1_y)" type
="double"/>
<param name
="fsm/way
point1_z" value
="$(arg
point1_z)" type
="double"/>
<param name
="fsm/way
point2_x" value
="$(arg
point2_x)" type
="double"/>
<param name
="fsm/way
point2_y" value
="$(arg
point2_y)" type
="double"/>
<param name
="fsm/way
point2_z" value
="$(arg
point2_z)" type
="double"/>
<param name
="fsm/way
point3_x" value
="$(arg
point3_x)" type
="double"/>
<param name
="fsm/way
point3_y" value
="$(arg
point3_y)" type
="double"/>
<param name
="fsm/way
point3_z" value
="$(arg
point3_z)" type
="double"/>
<param name
="fsm/way
point4_x" value
="$(arg
point4_x)" type
="double"/>
<param name
="fsm/way
point4_y" value
="$(arg
point4_y)" type
="double"/>
<param name
="fsm/way
point4_z" value
="$(arg
point4_z)" type
="double"/>
<param name
="fsm/way
point5_x" value
="$(arg
point5_x)" type
="double"/>
<param name
="fsm/way
point5_y" value
="$(arg
point5_y)" type
="double"/>
<param name
="fsm/way
point5_z" value
="$(arg
point5_z)" type
="double"/>
<param name
="grid_map/resolution" value
="0.
10" />
<param name
="grid_map/map_size_x" value
="$(arg map_size_x_)" />
<param name
="grid_map/map_size_y" value
="$(arg map_size_y_)" />
<param name
="grid_map/map_size_z" value
="$(arg map_size_z_)" />
<param name
="grid_map/local_update_range_x" value
="5.5" />
<param name
="grid_map/local_update_range_y" value
="5.5" />
<param name
="grid_map/local_update_range_z" value
="4.5" />
<param name
="grid_map/obstacles_inflation" value
="0.
199" />
<param name
="grid_map/local_map_margin" value
="
10"/>
<param name
="grid_map/ground_height" value
="-0.0
1"/>
<!-- camera parameter -->
<param name
="grid_map/cx" value
="$(arg cx)"/>
<param name
="grid_map/cy" value
="$(arg cy)"/>
<param name
="grid_map/fx" value
="$(arg fx)"/>
<param name
="grid_map/fy" value
="$(arg fy)"/>
<!-- depth filter -->
<param name
="grid_map/use_depth_filter" value
="true"/>
<param name
="grid_map/depth_filter_tolerance" value
="0.
15"/>
<param name
="grid_map/depth_filter_maxdist" value
="5.0"/>
<param name
="grid_map/depth_filter_mindist" value
="0.2"/>
<param name
="grid_map/depth_filter_margin" value
="2"/>
<param name
="grid_map/k_depth_scaling_factor" value
="
1000.0"/>
<param name
="grid_map/skip_pixel" value
="2"/>
<!-- local fusion -->
<param name
="grid_map/p_hit" value
="0.65"/>
<param name
="grid_map/p_miss" value
="0.35"/>
<param name
="grid_map/p_min" value
="0.
12"/>
<param name
="grid_map/p_max" value
="0.90"/>
<param name
="grid_map/p_occ" value
="0.80"/>
<param name
="grid_map/min_ray_length" value
="0.2"/>
<param name
="grid_map/max_ray_length" value
="5"/>
<param name
="grid_map/virtual_ceil_height" value
="2.0"/>
<param name
="grid_map/visualization_truncate_height" value
="
1.8"/>
<param name
="grid_map/show_occ_time" value
="false"/>
<param name
="grid_map/pose_type" value
="2"/>
<param name
="grid_map/frame_id" value
="world"/>
<!-- planner manager -->
<param name
="manager/max_vel" value
="$(arg max_vel)" type
="double"/>
<param name
="manager/max_acc" value
="$(arg max_acc)" type
="double"/>
<param name
="manager/max_jerk" value
="4" type
="double"/>
<param name
="manager/control_
points_distance" value
="0.4" type
="double"/>
<param name
="manager/feasibility_tolerance" value
="0.05" type
="double"/>
<param name
="manager/planning_horizon" value
="$(arg planning_horizon)" type
="double"/>
<param name
="manager/use_distinctive_trajs" value
="$(arg use_distinctive_trajs)" type
="bool"/>
<param name
="manager/drone_id" value
="$(arg drone_id)"/>
<!-- trajectory optimization -->
<param name
="optimization/lambda_smooth" value
="
1.0" type
="double"/>
<param name
="optimization/lambda_collision" value
="0.5" type
="double"/>
<param name
="optimization/lambda_feasibility" value
="0.
1" type
="double"/>
<param name
="optimization/lambda_fitness" value
="
1.0" type
="double"/>
<param name
="optimization/dist0" value
="0.5" type
="double"/>
<param name
="optimization/swarm_clearance" value
="0.5" type
="double"/>
<param name
="optimization/max_vel" value
="$(arg max_vel)" type
="double"/>
<param name
="optimization/max_acc" value
="$(arg max_acc)" type
="double"/>
<param name
="bspline/limit_vel" value
="$(arg max_vel)" type
="double"/>
<param name
="bspline/limit_acc" value
="$(arg max_acc)" type
="double"/>
<param name
="bspline/limit_ratio" value
="
1.
1" type
="double"/>
<!-- objects prediction -->
<param name
="prediction/obj_num" value
="$(arg obj_num_set)" type
="int"/>
<param name
="prediction/lambda" value
="
1.0" type
="double"/>
<param name
="prediction/predict_rate" value
="
1.0" type
="double"/>
</node>
</launch>详细解释一下 详细说明建图部分
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