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parametrize spawner params for lidars #3

Merged
merged 4 commits into from
Nov 3, 2023
Merged

parametrize spawner params for lidars #3

merged 4 commits into from
Nov 3, 2023

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stibipet
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@stibipet stibipet commented Nov 3, 2023

  • Add an option to set --horizontal-samples as a parameter for the drone spawner. This sets the number of points in each row.
  • Add an option to set --rotation-freq as a parameter for the drone spawner. This sets the update rate of a LiDAR.
  • Available for Ouster, Velodyne and RPLidar.

NOTE: Changed default values for RPLidar to reflect real resolution. The number of points will be higher than previously.

Example input for mrs_drone_spawner (4x lower resolution for Ouster):
spawn 1 x500 --enable-rangefinder --enable-ouster --ouster-model OS0-64 --use-gpu-ray --horizontal-samples 512

@stibipet stibipet requested a review from klaxalk November 3, 2023 13:23
@stibipet stibipet changed the title parametrize horizontal samples for lidars parametrize spawner params for lidars Nov 3, 2023
@klaxalk klaxalk merged commit 2afbdcf into master Nov 3, 2023
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@klaxalk klaxalk deleted the devel branch November 4, 2023 18:14
@klaxalk klaxalk restored the devel branch November 4, 2023 18:14
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2 participants