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Revert "disable lidar except top"
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This reverts commit b523b95.
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kosuke55 committed Dec 8, 2023
1 parent b523b95 commit a0bd159
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Showing 2 changed files with 5 additions and 5 deletions.
4 changes: 2 additions & 2 deletions aip_xx1_launch/launch/lidar.launch.xml
Original file line number Diff line number Diff line change
Expand Up @@ -24,7 +24,7 @@
<arg name="container_name" value="$(var pointcloud_container_name)"/>
</include>
</group>
<!--

<group>
<push-ros-namespace namespace="left"/>
<include file="$(find-pkg-share common_sensor_launch)/launch/velodyne_VLP16.launch.xml">
Expand Down Expand Up @@ -74,7 +74,7 @@
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
<arg name="container_name" value="$(var pointcloud_container_name)"/>
</include>
</group> -->
</group>

<!-- <group>
<push-ros-namespace namespace="front_left"/>
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6 changes: 3 additions & 3 deletions aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
Original file line number Diff line number Diff line change
Expand Up @@ -39,9 +39,9 @@ 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/rear/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"),
"input_offset": [
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