yaml文件数据格式

前面对应的是参数的名称后面是参数的值

# Topics
  pointCloudTopic: "/velodyne_points"               # Point cloud data
  imuTopic: "/airsim_node/drone_1/imu/Imu"                         # IMU data
 # imuTopic: "imu_correct"
  odomTopic: "odometry/imu"                   # IMU pre-preintegration odometry, same frequency as IMU
  gpsTopic: "odometry/gpsz"                   # GPS odometry topic from navsat, see module_navsat.launch file

yaml文件加载

要使用这些参数必须通过launch文件加载

<!-- Parameters -->
    <rosparam file="$(find lio_sam)/config/params.yaml" command="load" />

同时在utility.h中也为这些参数提供了一些默认值

nh.param<std::string>("lio_sam/pointCloudTopic", pointCloudTopic, "points_raw");
nh.param<std::string>("lio_sam/imuTopic", imuTopic, "imu_correct");
nh.param<std::string>("lio_sam/odomTopic", odomTopic, "odometry/imu");
nh.param<std::string>("lio_sam/gpsTopic", gpsTopic, "odometry/gps");

其中第二个参数是参数的名称；第一个参数是从launch文件加载的参数文件(yaml)中有 pointCloudTopic定义的值则用launch中加载来的否则用默认值points_raw

yaml参数调用

subLaserCloud = nh.subscribe<sensor_msgs::PointCloud2>(pointCloudTopic, 5, &ImageProjection::cloudHandler, this, ros::TransportHints().tcpNoDelay());

第一个参数为话题名；已经在yaml文件中给他定义了值为/velodyne_points，第二个参数是队列长度，第三个参数为回调函数(一般为加载和处理雷达数据)

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