feat: add matching strategy params

Signed-off-by: vividf <[email protected]>
autowarefoundation · Dec 12, 2024 · 22a33d1 · 22a33d1
1 parent a7e6fcc
commit 22a33d1
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/sample_sensor_kit_launch/config/concatenate_and_time_sync_node.param.yaml b/sample_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",
                 ]
     output_frame: base_link
-    lidar_timestamp_offsets: [0.0, 0.015, 0.016]
-    lidar_timestamp_noise_window: [0.01, 0.01, 0.01]
+    matching_strategy:
+      type: advanced
+      lidar_timestamp_offsets: [0.0, 0.015, 0.016]
+      lidar_timestamp_noise_window: [0.01, 0.01, 0.01]