From 05da320ee2f56d4a4dee70ad8158aaad9d24bfde Mon Sep 17 00:00:00 2001 From: yoshiri Date: Mon, 4 Mar 2024 16:03:14 +0900 Subject: [PATCH] feat: update multi_lidar_ogm param file Signed-off-by: yoshiri --- ...idar_pointcloud_based_occupancy_grid_map.param.yaml | 10 +++------- 1 file changed, 3 insertions(+), 7 deletions(-) diff --git a/autoware_launch/config/perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml b/autoware_launch/config/perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml index f7be86356a..0badf26c75 100644 --- a/autoware_launch/config/perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml +++ b/autoware_launch/config/perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml @@ -36,17 +36,13 @@ # Setting1: tune ogm creation parameters obstacle_pointcloud_topic: "/perception/obstacle_segmentation/single_frame/pointcloud_raw" raw_pointcloud_topics: # put each sensor's pointcloud topic - - "/sensing/lidar/top/pointcloud_synchronized" - - "/sensing/lidar/left/pointcloud_synchronized" - - "/sensing/lidar/right/pointcloud_synchronized" + - "/sensing/lidar/top/pointcloud" + - "/sensing/lidar/left/pointcloud" + - "/sensing/lidar/right/pointcloud" fusion_input_ogm_topics: - "/perception/occupancy_grid_map/top_lidar/map" - "/perception/occupancy_grid_map/left_lidar/map" - "/perception/occupancy_grid_map/right_lidar/map" - each_ogm_sensor_frames: - - "velodyne_top" - - "velodyne_left" - - "velodyne_right" # reliability of each sensor (0.0 ~ 1.0) only work with "log-odds" and "dempster-shafer" input_ogm_reliabilities: - 1.0