kaarta STENCIL 2 - Page 119

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• laser_wrt_imu_roll, laser_wrt_imu_pitch, laser_wrt_imu_yaw: relative
orientation of the Velodyne with respect to the IMU. Default values are 0.
• Use_ethernet: true - Configured at the factory. Not meant for user changes
• velodyne_ip: 10.15.213.201 - Set the IP address correspondingly if changing the IP
address on Velodyne. Default for older Stencils prior to Software Revision 2018-07 (June 29,
2018) is 192.168.1.201. Newer Stencils (After Software Revision 2018-07 SP1 (July 26, 2018)
is 10.15.213.201.
• velodyne_port: 10110 - Configured at the factory. Not meant for user changes
• chrony_sock: /var/run/chrony.sock - Configured at the factory. Not meant for user
changes.
• chrony_latency: 0.01 - Configured at the factory. Not meant for user changes.
• nmea_baudrate: 9600 - Configured at the factory. Not meant for user changes.
• nmea_port: /dev/ttyUSB1 - Configured at the factory. Not meant for user changes.
• pub_mag_field: false – additional IMU data available from the driver
• pub_free_acceleration: false – additional IMU data available from the driver
cloud_nodelet:
• upward: true - set to false if mounting Stencil 2 upside down, at the same time set
laser_wrt_imu_roll (under receive_xsens on the next line) to 3.1415926. Do not
need to do this in mapping / localization with camera modes.
sensorMovingDebounceTime: 0.5 – Amount of time in seconds to wait after isSensorMoving
topic is asserted by the user. Prevents sporadic operation.
laser_model: 0 - 0=VLP-16; 1=VLP-32C; 2=HDL-32E; This parameter no longer needs to be
set by the user as Stencil will auto-detect the lidar being used.
Localization Mode Settings
mapLocalization:
• sendLaserCloud: true - Set to false so that the program will not publish point clouds
matched to map during localization modes.
• sendMapCloud: true - Set to false so that the program will not publish map point clouds.
• localizeTimeThreshold: 3 - Attempt to localize to the map every N seconds
• laserCloudSkipDis: 0.02 – Attempt to localize to the map every N meters.
• laserCloudStackNum: 10 - Number of scans to accumulate for localization to execute.
• mapVoxelSize,: Resolution of the point cloud for localization. In tight areas, reduce the
values by 50 %. In open areas, increase by 50 %.
• surroundVoxelSize: 0.6 - Resolution of the point cloud for display.