chore: add mathcing strategy

Signed-off-by: vividf <[email protected]>
autowarefoundation · Dec 12, 2024 · a7066c3 · a7066c3
1 parent 7c19ada
commit a7066c3
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/awsim_labs_sensor_kit_launch/config/concatenate_and_time_sync_node.param.yaml b/awsim_labs_sensor_kit_launch/config/concatenate_and_time_sync_node.param.yaml
@@ -1,7 +1,5 @@
 /**:
   ros__parameters:
-    # ignore the lidar_timestamp_offsets and lidar_timestamp_noise_window if 'use_naive_approach' is true
-    use_naive_approach: false
     debug_mode: false
     has_static_tf_only: false
     rosbag_length: 10.0
@@ -19,5 +17,7 @@
                     "/sensing/lidar/left/pointcloud_before_sync", # 0.05
                 ]
     output_frame: base_link
-    lidar_timestamp_offsets: [0.0, 0.0, 0.0]
-    lidar_timestamp_noise_window: [0.01, 0.01, 0.01]
+    matching_strategy:
+          type: advanced
+          lidar_timestamp_offsets: [0.0, 0.0, 0.0]
+          lidar_timestamp_noise_window: [0.01, 0.01, 0.01]