feat: set max range of rear_lidar in xx1 (#110)

* feat: set max range of rear_lidar in xx1 Signed-off-by: tomoya.kimura <[email protected]> * feat: add concatenated target to rear lidar Signed-off-by: tomoya.kimura <[email protected]> * feat: do not use left/right lidar Signed-off-by: tomoya.kimura <[email protected]> --------- Signed-off-by: tomoya.kimura <[email protected]>
tier4 · Mar 15, 2023 · 7e61cca · 7e61cca
1 parent d498a5b
commit 7e61cca
Show file tree

Hide file tree

Showing 2 changed files with 4 additions and 3 deletions.
diff --git a/aip_xx1_launch/launch/lidar.launch.xml b/aip_xx1_launch/launch/lidar.launch.xml
@@ -52,7 +52,7 @@
     <group>
       <push-ros-namespace namespace="rear"/>
       <include file="$(find-pkg-share common_sensor_launch)/launch/velodyne_VLP16.launch.xml">
-        <arg name="max_range" value="15.0" />
+        <arg name="max_range" value="1.5" />
         <arg name="sensor_frame" value="velodyne_rear" />
         <arg name="device_ip" value="192.168.1.204"/>
         <arg name="port" value="2371"/>

diff --git a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
@@ -36,8 +36,9 @@ def launch_setup(context, *args, **kwargs):
             {
                 "input_topics": [
                     "/sensing/lidar/top/outlier_filtered/pointcloud",
-                    "/sensing/lidar/left/outlier_filtered/pointcloud",
-                    "/sensing/lidar/right/outlier_filtered/pointcloud",
+                    # "/sensing/lidar/left/outlier_filtered/pointcloud",
+                    # "/sensing/lidar/right/outlier_filtered/pointcloud",
+                    "/sensing/lidar/rear/outlier_filtered/pointcloud",
                 ],
                 "output_frame": LaunchConfiguration("base_frame"),
             }