lidar_correction module

LIDAR correction for SLAM applications

Includes functions used to simulate the LIDAR data (Optional module for advanced LIDAR processing)

Example for airframe file

Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!

<module name="lidar_correction">
  b'<configure name="USE_LIDAR_CORRECTION" value="true" />\n  '
</module>

Module configuration options

Configure Options

• name: USE_LIDAR_CORRECTION value: true
  Description: Enable LIDAR correction module

Module functions

Init Functions

These initialization functions are called once on startup.

• init_walls()

Files

Header Files

The following headers are automatically included in modules.h

• lidar_correction.h

Source Files

• modules/lidar/slam/lidar_correction.c

Raw lidar_correction.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="lidar_correction" dir="lidar/slam">
  <doc>
    <description>
      LIDAR correction for SLAM applications
      Includes functions used to simulate the LIDAR data
      (Optional module for advanced LIDAR processing)
    </description>
    <configure name="USE_LIDAR_CORRECTION" value="true" description="Enable LIDAR correction module"/>
  </doc>
 
  <header>
    <file name="lidar_correction.h"/>
  </header>
 
  <init fun="init_walls()"/>
 
  <makefile target="ap|nps">
    <configure name="USE_LIDAR_CORRECTION" default="true"/>
    <define name="USE_LIDAR_CORRECTION" value="$(USE_LIDAR_CORRECTION)"/>
    <configure name="OBSTACLES_CONFIG" default="ucm_football"/>
    <define name="OBSTACLES_CONFIG_FILE" value="modules/lidar/maps/$(OBSTACLES_CONFIG).h"/>
    <file name="lidar_correction.c"/>
  </makefile>
</module>