feat: add input_offset parameter to pointcloud preprocessor launch

Signed-off-by: asa-naki <[email protected]>
tier4 · Sep 17, 2024 · 72efcd9 · 72efcd9
1 parent 40d5df0
commit 72efcd9
Showing 1 changed file with 5 additions and 1 deletion.
diff --git a/aip_x1_launch/launch/pointcloud_preprocessor.launch.py b/aip_x1_launch/launch/pointcloud_preprocessor.launch.py
@@ -40,7 +40,11 @@ def launch_setup(context, *args, **kwargs):
                     "/sensing/lidar/front_center/pointcloud",
                 ],
                 "output_frame": LaunchConfiguration("base_frame"),
-                "timeout_sec": 1.0,
+                "input_offset": [
+                    0.055,
+                    0.025,
+                ],                
+                "timeout_sec": 0.095,
                 "input_twist_topic_type": "twist",
                 "publish_synchronized_pointcloud": True,
             }