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feat(aip_x2_gen2_launch): update launch to run new concatenate node #386

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merged 6 commits into from
Feb 5, 2025
Merged

feat(aip_x2_gen2_launch): update launch to run new concatenate node #386

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474738d
feat(aip_x2_gen2_launch): update launch to run new concatenate node
TomohitoAndo Feb 5, 2025
53750f5
change output topic name
TomohitoAndo Feb 5, 2025
619bac3
update param file for x2 gen2
TomohitoAndo Feb 5, 2025
b39640e
change `is_motion_compensated` and `publish_synchronized_pointcloud` …
TomohitoAndo Feb 5, 2025
fcb43fd
update param
TomohitoAndo Feb 5, 2025
7dcbd1e
Update aip_x2_gen2_launch/config/concatenate_and_time_sync_node.param…
vividf Feb 5, 2025
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22 changes: 11 additions & 11 deletions aip_x2_gen2_launch/config/concatenate_and_time_sync_node.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -5,24 +5,24 @@
rosbag_length: 10.0
maximum_queue_size: 5
timeout_sec: 0.2
is_motion_compensated: true
publish_synchronized_pointcloud: true
is_motion_compensated: false
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publish_synchronized_pointcloud: false
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", # 0.044
"/sensing/lidar/rear_lower/pointcloud_before_sync", # 0.049
"/sensing/lidar/left_upper/pointcloud_before_sync", # 0.05
"/sensing/lidar/left_lower/pointcloud_before_sync", # 0.05
"/sensing/lidar/front_upper/pointcloud_before_sync", # 0.075
"/sensing/lidar/front_lower/pointcloud_before_sync", # 0.074
"/sensing/lidar/right_upper/pointcloud_before_sync", # 0.090
"/sensing/lidar/right_lower/pointcloud_before_sync", # 0.00
"/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, 0.005, 0.006, 0.006, 0.031, 0.03, 0.046, 0.056]
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]
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