localization.conf

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--flagfile=/apollo/modules/common/data/global_flagfile.txt
--noenable_gps_imu_interprolate
 
# Redefine the map_dir of global_flagfile.txt
#--map_dir=/apollo/modules/localization/testdata
 
# The directory name of localization map.
# type: string
# default: local_map
--local_map_name=local_map
 
# Enable gnss timestamp compensator for invalid timestamp
# type: bool
# default: false
--enable_gps_imu_compensate=false
 
# Enable lidar-based localization.
# type: bool
# defalult: true
--enable_lidar_localization=true
 
# Localization mode, 0 for intensity, 1 for altitude, 2 for fusion.
# type: int
# default: 2
--lidar_localization_mode=2
 
# image yaw align mode, 0 for align off, 1 for fusion, 2 for fusion with multithread.
# type: int
# default: 2
--lidar_yaw_align_mode=2
 
# Lidar filter size
# type: int
# default: 11
--lidar_filter_size=17
 
# point cloud step
# type: int
# default: 2
--point_cloud_step=2
 
# The height from the center of lidar to ground plane
# type: double
# default: 1.80
--lidar_height_default=1.80
 
# idar msg and imu msg max delay time.
# type: double
# default: 0.4
--lidar_imu_lidar_max_delay_time=0.4
 
# The valid coverage of pointcloud and map.
# type: double
# default: 0.8
--lidar_map_coverage_theshold=0.8
 
# Lidar debug switch.
# type: bool
# default: false
--lidar_debug_log_flag=false
 
# integ_ins_can_self_align.
# type: bool
# default: false
--integ_ins_can_self_align=false
 
# integ_sins_align_with_vel.
# type: bool
# default: true
--integ_sins_align_with_vel=true
 
# Whether check state of sins. If true, sins will restart in bad state.
# type: bool
# default: true
--integ_sins_state_check=true
 
# The param of sins state check.
# type: double
# default: 30.0
--integ_sins_state_span_time=30.0
 
# The param of sins state check.
# type: double
# default: 1.0
--integ_sins_state_pos_std=1.0
 
# vel_threshold_get_yaw.
# type: double
# default: 5.0
--vel_threshold_get_yaw=5.0
 
# enable flag ins_aid_rtk.
# type: bool
# default: false
--enable_ins_aid_rtk=false
 
# eph_buffer_path.
# type: string
# default: ""
--eph_buffer_path=""
 
# gnss_debug_log_flag.
# type: bool
# default: false
--gnss_debug_log_flag=false
 
# imu_rate.
# type: double
# default: 1.0
--imu_rate=1.0
 
# Whether load utm zone id from local map folder
# type: bool
# default: true
--if_utm_zone_id_from_folder=true
 
# local_utm_zone_id.
# type: int
# default: int
--local_utm_zone_id=10
 
# trans_gpstime_to_utctime.
# type: bool
# default: true
--trans_gpstime_to_utctime=false
 
# GNSS Mode, 0 for bestgnss pose, 1 for self gnss.
# type: string
# default: 0
--gnss_mode=0
 
# The pointcloud topic name.
# type: string
# default: /apollo/sensor/velodyne64/compensator/PointCloud2
--lidar_topic=/apollo/sensor/hesai40/compensator/PointCloud2
 
# The lidar extrinsics file
# type: string
# default: /apollo/modules/localization/msf/params/velodyne_params/velodyne128_novatel_extrinsics.yaml
--lidar_extrinsics_file=/apollo/modules/localization/msf/params/velodyne_params/velodyne64_novatel_extrinsics_example.yaml
 
# imu coordinate, true->flu, false->rfu
# type: bool
# default: true
--imu_coord_rfu=true
 
# Whether use bestgnsspose as measure after initializaiton.
# type: bool
# default: false
--gnss_only_init=false
 
# Whether use imu ant leverarm from ant imu yaml file
# type: bool
# default: true
--if_imuant_from_file=true
 
# Imu ant offset x
# type: double
# default: 0.0
--imu_to_ant_offset_x=0.0
 
# Imu ant offset y
# type: double
# default: 0.0
--imu_to_ant_offset_y=0.788
 
# Imu ant offset z
# type: double
# default: 0.0
--imu_to_ant_offset_z=1.077
 
# Imu ant offset x uncertainty
# type: double
# default: 0.0
--imu_to_ant_offset_ux=0.05
 
# Imu ant offset y uncertainty
# type: double
# default: 0.0
--imu_to_ant_offset_uy=0.05
 
# Imu ant offset z uncertainty
# type: double
# default: 0.0
--imu_to_ant_offset_uz=0.08
 
# Whether load vehicle coord to imu coord quaternion from yaml file
# type: bool
# default: true
--if_vehicle_imu_from_file=true
 
# vehicle coord to imu coord quaternion qx
# type: double
# default: 0.0
--imu_vehicle_qx=0.0
 
# vehicle coord to imu coord quaternion qy
# type: double
# default: 0.0
--imu_vehicle_qy=0.0
 
# vehicle coord to imu coord quaternion qz
# type: double
# default: 0.0
--imu_vehicle_qz=0.0
 
# vehicle coord to imu coord quaternion qw
# type: double
# default: 1.0
--imu_vehicle_qw=1.0
 
# The tem folder for localziation visualziation
--map_visual_dir=data/map_visual
 
# if use avx to accelerate lidar localization
# need cpu to support avx intel intrinsics
# default: false
--if_use_avx=true