地图

[qiulongpan5]

你好博主，我看到您给出的数据包上有主图和很多子图,我怎么样才可以只有主图，不用子图运行

[tsengapola]

Rename your pcd file to:

0_feature.pcd
0_ground.pcd

And put them into:
https://github.com/dfl-rlab/dddmr_navigation/tree/main/src/dddmr_mcl_3dl/map/pcd

And enlarge sub_map_search_radius to size of your map, for example, 200 meters

dddmr_navigation/src/dddmr_mcl_3dl/config/mcl_3dl.yaml

Line 4 in 9e38ea0

sub_map_search_radius: 50.0

And make warm up distance to a super large distance, say 1000000 meters

dddmr_navigation/src/dddmr_mcl_3dl/config/mcl_3dl.yaml

Line 5 in 9e38ea0

sub_map_warmup_trigger_distance: 20.0