Update video demo.

README.md

@@ -22,7 +22,7 @@ If you want to learn more about our lidar, you can refer to the official website
 
 ## Video Demo
 
-[![Video](./doc/video.png)](https://youtu.be/Wx0tLOLD5MY?si=wZE6NGqLUGQdotzJ "SLAM based on Unitree 4D LiDAR L1")
+[![Video](./doc/video.png)](https://youtu.be/Wx0tLOLD5MY?si=EyNL3Dvhh5ci692k "SLAM based on Unitree 4D LiDAR L1")
 
 
 ## Prerequisites

rviz_cfg/loam_unilidar_default.rviz

@@ -0,0 +1,367 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 0
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Grid1
+        - /Axes1
+        - /mapping1
+        - /mapping1/surround1
+        - /mapping1/currPoints1
+        - /mapping1/currPoints1/Autocompute Value Bounds1
+        - /Odometry1/Odometry1
+        - /Odometry1/Odometry1/Shape1
+        - /Odometry1/Odometry1/Covariance1
+        - /Odometry1/Odometry1/Covariance1/Position1
+        - /Odometry1/Odometry1/Covariance1/Orientation1
+        - /Axes2
+        - /Path1
+        - /MarkerArray1/Namespaces1
+      Splitter Ratio: 0.5094339847564697
+    Tree Height: 865
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Name: Time
+    SyncMode: 0
+    SyncSource: currPoints
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 1
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 85; 87; 83
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 100
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz/Axes
+      Enabled: true
+      Length: 0.5
+      Name: Axes
+      Radius: 0.05999999865889549
+      Reference Frame: aft_mapped
+      Show Trail: false
+      Value: true
+    - Class: rviz/Group
+      Displays:
+        - Alpha: 1
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 10
+            Min Value: -10
+            Value: true
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz/PointCloud2
+          Color: 238; 238; 236
+          Color Transformer: FlatColor
+          Decay Time: 0
+          Enabled: true
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Min Color: 238; 238; 236
+          Name: surround
+          Position Transformer: XYZ
+          Queue Size: 1
+          Selectable: false
+          Size (Pixels): 3
+          Size (m): 0.05000000074505806
+          Style: Points
+          Topic: /cloud_registered
+          Unreliable: false
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: true
+        - Alpha: 0.5
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 2.63232421875
+            Min Value: -1.107768177986145
+            Value: true
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz/PointCloud2
+          Color: 255; 255; 255
+          Color Transformer: AxisColor
+          Decay Time: 1000
+          Enabled: true
+          Invert Rainbow: true
+          Max Color: 255; 255; 255
+          Min Color: 0; 0; 0
+          Name: currPoints
+          Position Transformer: XYZ
+          Queue Size: 100000
+          Selectable: true
+          Size (Pixels): 1.5
+          Size (m): 0.009999999776482582
+          Style: Points
+          Topic: /cloud_registered
+          Unreliable: false
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: true
+        - Alpha: 1
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 10
+            Min Value: -10
+            Value: true
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz/PointCloud2
+          Color: 255; 0; 0
+          Color Transformer: FlatColor
+          Decay Time: 0
+          Enabled: false
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Min Color: 0; 0; 0
+          Name: PointCloud2
+          Position Transformer: XYZ
+          Queue Size: 10
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.10000000149011612
+          Style: Flat Squares
+          Topic: /Laser_map
+          Unreliable: false
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: false
+      Enabled: true
+      Name: mapping
+    - Class: rviz/Group
+      Displays:
+        - Angle Tolerance: 0.009999999776482582
+          Class: rviz/Odometry
+          Covariance:
+            Orientation:
+              Alpha: 0.5
+              Color: 255; 255; 127
+              Color Style: Unique
+              Frame: Local
+              Offset: 1
+              Scale: 1
+              Value: true
+            Position:
+              Alpha: 0.30000001192092896
+              Color: 204; 51; 204
+              Scale: 1
+              Value: true
+            Value: true
+          Enabled: true
+          Keep: 1
+          Name: Odometry
+          Position Tolerance: 0.0010000000474974513
+          Queue Size: 10
+          Shape:
+            Alpha: 1
+            Axes Length: 1
+            Axes Radius: 0.20000000298023224
+            Color: 255; 85; 0
+            Head Length: 0
+            Head Radius: 0
+            Shaft Length: 0.05000000074505806
+            Shaft Radius: 0.05000000074505806
+            Value: Axes
+          Topic: /Odometry
+          Unreliable: false
+          Value: true
+      Enabled: true
+      Name: Odometry
+    - Alpha: 1
+      Class: rviz/Axes
+      Enabled: true
+      Length: 1
+      Name: Axes
+      Radius: 0.10000000149011612
+      Reference Frame: <Fixed Frame>
+      Show Trail: false
+      Value: true
+    - Alpha: 0
+      Buffer Length: 2
+      Class: rviz/Path
+      Color: 25; 255; 255
+      Enabled: true
+      Head Diameter: 0
+      Head Length: 0
+      Length: 0.30000001192092896
+      Line Style: Billboards
+      Line Width: 0.07999999821186066
+      Name: Path
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Pose Color: 25; 255; 255
+      Pose Style: None
+      Queue Size: 10
+      Radius: 0.029999999329447746
+      Shaft Diameter: 0.4000000059604645
+      Shaft Length: 0.4000000059604645
+      Topic: /path
+      Unreliable: false
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: false
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 239; 41; 41
+      Max Intensity: 0
+      Min Color: 239; 41; 41
+      Min Intensity: 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 4
+      Size (m): 0.30000001192092896
+      Style: Spheres
+      Topic: /cloud_effected
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: false
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 13.139549255371094
+        Min Value: -32.08251953125
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 138; 226; 52
+      Color Transformer: FlatColor
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 138; 226; 52
+      Min Color: 138; 226; 52
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.10000000149011612
+      Style: Flat Squares
+      Topic: /Laser_map
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: false
+    - Class: rviz/MarkerArray
+      Enabled: false
+      Marker Topic: /MarkerArray
+      Name: MarkerArray
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: false
+  Enabled: true
+  Global Options:
+    Background Color: 0; 0; 0
+    Default Light: true
+    Fixed Frame: camera_init
+    Frame Rate: 10
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/XYOrbit
+      Distance: 10.007177352905273
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Field of View: 0.7853981852531433
+      Focal Point:
+        X: -1.3620343208312988
+        Y: -2.0393662452697754
+        Z: -2.1677402401110157e-05
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.7297971248626709
+      Target Frame: aft_mapped
+      Yaw: 3.9784696102142334
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: true
+  Height: 1016
+  Hide Left Dock: true
+  Hide Right Dock: true
+  QMainWindow State: 000000ff00000000fd0000000400000000000001750000039efc020000000dfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000003d0000039e000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650000000297000001dc0000000000000000fb0000000a0049006d0061006700650000000394000001600000000000000000fb0000000a0049006d00610067006501000002c5000000c70000000000000000fb0000000a0049006d00610067006501000002c5000000c70000000000000000fb0000000a0049006d00610067006501000002c5000000c7000000000000000000000001000001520000039efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000039e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073e00000052fc0100000002fb0000000800540069006d006500000000000000073e0000041800fffffffb0000000800540069006d006501000000000000045000000000000000000000073e0000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1854
+  X: 1986
+  Y: 27