feat(aip_x2_gen2_launch): update launch to run new concatenate node #386
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Signed-off-by: Tomohito Ando <[email protected]>
Signed-off-by: Tomohito Ando <[email protected]>
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This parameter config might be wrong because these parameters are for x2 gen1.
Could you run the new algorithm with the parameters
/**:
ros__parameters:
debug_mode: false
has_static_tf_only: false
rosbag_length: 10.0
maximum_queue_size: 5
timeout_sec: 0.2
is_motion_compensated: true
publish_synchronized_pointcloud: true
keep_input_frame_in_synchronized_pointcloud: true
publish_previous_but_late_pointcloud: false
synchronized_pointcloud_postfix: pointcloud
input_twist_topic_type: twist
input_topics: [
"/sensing/lidar/left_lower/pointcloud_before_sync",
"/sensing/lidar/left_upper/pointcloud_before_sync",
"/sensing/lidar/front_lower/pointcloud_before_sync",
"/sensing/lidar/front_upper/pointcloud_before_sync",
"/sensing/lidar/right_upper/pointcloud_before_sync",
"/sensing/lidar/right_lower/pointcloud_before_sync",
"/sensing/lidar/rear_lower/pointcloud_before_sync",
"/sensing/lidar/rear_upper/pointcloud_before_sync"
]
output_frame: base_link
matching_strategy:
type: advanced
lidar_timestamp_offsets: [0.0, 0.0, 0.025, 0.028, 0.026, 0.05, 0.075, 0.076]
lidar_timestamp_noise_window: [0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01]There was a problem hiding this comment.
Please help me verify that the time offsets between the LiDAR timestamps are accurate. (with ros2 topic echo pointcloud_topic --field header)
I set these parameters at the X2 Gen2 bench months ago, and I'm unsure if any sensor configurations have changed
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@vividf
I played rosbag recorded on the x2 gen vehicle and did ros2 topic echo pointcloud_topic --field header.
Please tell me if you need any other information!
simplescreenrecorder-2025-02-05_14.37.34.mp4
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Thank you!
This helps a lot!
The parameters below should be accurate one
/**:
ros__parameters:
debug_mode: false
has_static_tf_only: false
rosbag_length: 10.0
maximum_queue_size: 5
timeout_sec: 0.2
is_motion_compensated: true
publish_synchronized_pointcloud: true
keep_input_frame_in_synchronized_pointcloud: true
publish_previous_but_late_pointcloud: false
synchronized_pointcloud_postfix: pointcloud
input_twist_topic_type: twist
input_topics: [
"/sensing/lidar/rear_upper/pointcloud_before_sync", # 0.047
"/sensing/lidar/rear_lower/pointcloud_before_sync", # 0.048
"/sensing/lidar/left_upper/pointcloud_before_sync", # 0.048
"/sensing/lidar/left_lower/pointcloud_before_sync", # 0.047
"/sensing/lidar/front_upper/pointcloud_before_sync", # 0.072
"/sensing/lidar/front_lower/pointcloud_before_sync", # 0.072
"/sensing/lidar/right_upper/pointcloud_before_sync", # 0.073
"/sensing/lidar/right_lower/pointcloud_before_sync" # 0.097
]
output_frame: base_link
matching_strategy:
type: advanced
lidar_timestamp_offsets: [0.0, 0.001, 0.001, 0.0, 0.025, 0.025, 0.026, 0.050]
lidar_timestamp_noise_window: [0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01]There was a problem hiding this comment.
@TomohitoAndo Sorry! I set two values wrong.
0.01 -> 0.001
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lidar_timestamp_offsets: [0.0, 0.001, 0.001, 0.0, 0.025, 0.025, 0.026, 0.050]
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Thank you!
updated param in fcb43fd
I confirmed diagnostics was OK with logging_simulator 😄
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I updated the parameters by myself
#386 (comment)
Signed-off-by: Tomohito Ando <[email protected]>
aip_x2_gen2_launch/config/concatenate_and_time_sync_node.param.yaml
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…to true Signed-off-by: Tomohito Ando <[email protected]>
Signed-off-by: Tomohito Ando <[email protected]>
aip_x2_gen2_launch/config/concatenate_and_time_sync_node.param.yaml
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LGTM!
Just a notification: I changed the parameters to #386 (comment).
Result should be the same
Description
I updated launch and added the config file to run the new concatenate node.
These changes were made in this PR originally.
Additionally, I changed the output topic name of pointcloud_preprocessor from
pointcloudtopointcloud_before_syncTests performed
I confirmed concatenate node works fine in logging_simulator.
