fix: remapped the pointclouds to use the new point type and added the…

… undistortion param file Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>
tier4 · Jul 18, 2024 · aeec0a0 · aeec0a0
1 parent ed8ca33
commit aeec0a0
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Showing 2 changed files with 8 additions and 2 deletions.
diff --git a/aip_x2_launch/launch/nebula_node_container.launch.py b/aip_x2_launch/launch/nebula_node_container.launch.py
@@ -183,8 +183,9 @@ def str2vector(string):
             },
         ],
         remappings=[
-            ("aw_points", "pointcloud_raw"),
-            ("aw_points_ex", "pointcloud_raw_ex"),
+            # ("aw_points", "pointcloud_raw"),
+            # ("aw_points_ex", "pointcloud_raw_ex"),
+            ("pandar_points", "pointcloud_raw_ex"),
         ],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )

diff --git a/common_sensor_launch/config/distortion_corrector_node.param.yaml b/common_sensor_launch/config/distortion_corrector_node.param.yaml
@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    base_frame: base_link
+    use_imu: true
+    use_3d_distortion_correction: false