feat: interface change in sensing lidar pointcloud. use synchronized …

…pointcloud as sensor interface Signed-off-by: yoshiri <[email protected]>
autowarefoundation · Mar 1, 2024 · 4b57848 · 4b57848
1 parent 3471b3e
commit 4b57848
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Showing 2 changed files with 5 additions and 4 deletions.
diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py
@@ -202,7 +202,7 @@ def create_parameter_dict(*args):
             name="ring_outlier_filter",
             remappings=[
                 ("input", "rectified/pointcloud_ex"),
-                ("output", "pointcloud"),
+                ("output", "pointcloud_before_sync"),
             ],
             parameters=[ring_outlier_filter_parameters],
             extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],

diff --git a/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py b/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py
@@ -37,12 +37,13 @@ def launch_setup(context, *args, **kwargs):
         parameters=[
             {
                 "input_topics": [
-                    "/sensing/lidar/top/pointcloud",
-                    "/sensing/lidar/left/pointcloud",
-                    "/sensing/lidar/right/pointcloud",
+                    "/sensing/lidar/top/pointcloud_before_sync",
+                    "/sensing/lidar/left/pointcloud_before_sync",
+                    "/sensing/lidar/right/pointcloud_before_sync",
                 ],
                 "output_frame": LaunchConfiguration("base_frame"),
                 "input_twist_topic_type": "twist",
+                "publish_synchronized_pointcloud": True,
             }
         ],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],