Skip to content

Commit

Permalink
fix(pointcloud_preprocessor): organize input twist topic
Browse files Browse the repository at this point in the history
Signed-off-by: kminoda <[email protected]>
  • Loading branch information
kminoda committed Sep 29, 2023
1 parent 35156f2 commit 696105b
Show file tree
Hide file tree
Showing 3 changed files with 7 additions and 1 deletion.
6 changes: 5 additions & 1 deletion aip_x1_launch/launch/pointcloud_preprocessor.launch.py
Original file line number Diff line number Diff line change
Expand Up @@ -30,7 +30,10 @@ def launch_setup(context, *args, **kwargs):
package="pointcloud_preprocessor",
plugin="pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
name="concatenate_data",
remappings=[("output", "concatenated/pointcloud")],
remappings=[
("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
("output", "concatenated/pointcloud")
],
parameters=[
{
"input_topics": [
Expand All @@ -41,6 +44,7 @@ def launch_setup(context, *args, **kwargs):
],
"output_frame": LaunchConfiguration("base_frame"),
"timeout_sec": 1.0,
"input_twist_topic_type": "twist",
}
],
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
Expand Down
1 change: 1 addition & 0 deletions aip_x2_launch/launch/pointcloud_preprocessor.launch.py
Original file line number Diff line number Diff line change
Expand Up @@ -50,6 +50,7 @@ def launch_setup(context, *args, **kwargs):
"input_offset": [0.025, 0.025, 0.01, 0.0, 0.05, 0.05, 0.05, 0.05],
"timeout_sec": 0.075,
"output_frame": LaunchConfiguration("base_frame"),
"input_twist_topic_type": "twist",
}
],
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
Expand Down
1 change: 1 addition & 0 deletions aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
Original file line number Diff line number Diff line change
Expand Up @@ -51,6 +51,7 @@ def launch_setup(context, *args, **kwargs):
0.025,
], # each sensor will wait 60, 70, 70, 70ms
"timeout_sec": 0.095, # set shorter than 100ms
"input_twist_topic_type": "twist",
}
],
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
Expand Down

0 comments on commit 696105b

Please sign in to comment.