From aeec0a0c27b3757eabbe04e1ff2505d02c010e4e Mon Sep 17 00:00:00 2001 From: Kenzo Lobos-Tsunekawa Date: Thu, 18 Jul 2024 22:38:41 +0900 Subject: [PATCH] fix: remapped the pointclouds to use the new point type and added the undistortion param file Signed-off-by: Kenzo Lobos-Tsunekawa --- aip_x2_launch/launch/nebula_node_container.launch.py | 5 +++-- .../config/distortion_corrector_node.param.yaml | 5 +++++ 2 files changed, 8 insertions(+), 2 deletions(-) create mode 100644 common_sensor_launch/config/distortion_corrector_node.param.yaml diff --git a/aip_x2_launch/launch/nebula_node_container.launch.py b/aip_x2_launch/launch/nebula_node_container.launch.py index 97e16d78..5e471c0b 100644 --- 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 new file mode 100644 index 00000000..3afa4816 --- /dev/null +++ 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