Reference¶
Every option Pelorus accepts, in the order it appears in the default configuration. The text is taken from the comments in pelorus_core/default.rl, which is the same file pelorus config generate full writes, so these pages and the configuration on your disk stay in step.
All numbers and physical quantities must be finite. Literal and unit-conversion overflow are rejected automatically.
| Block | Options | Contents |
|---|---|---|
registration |
6 | How each new scan is aligned to the map |
preprocessing |
20 | What happens to a scan between arriving and being registered |
sensor_drivers |
11 | Devices Pelorus talks to directly instead of subscribing to a topic |
lidar |
27 | Where point clouds come from and what Pelorus may assume about them |
imu |
28 | Where IMU measurements come from and how far they can be trusted |
wheel |
8 | An optional third source of motion |
output |
34 | What Pelorus publishes and where it publishes it |
offline |
3 | How pelorus offline runs |
parallelism |
6 | How much of the machine Pelorus is allowed to use |
Of the 143 options, 16 are marked as worth reviewing for every new installation. Those are the ones pelorus config generate recommended writes into a starter configuration.