From af5f318ea61e4fde09b8492cc7ced4c473a082e8 Mon Sep 17 00:00:00 2001 From: Yoshi Ri Date: Fri, 13 Dec 2024 01:34:05 +0900 Subject: [PATCH] feat: temporary radar support for x2 gen2 v4.0.1 (#357) * disable motion cancel in converter node because sensor has already done it * remove left/right radar for temporary usage Signed-off-by: yoshiri --------- Signed-off-by: yoshiri --- aip_x2_gen2_launch/config/simple_object_merger.param.yaml | 2 +- .../config/radar_tracks_msgs_converter.param.yaml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/aip_x2_gen2_launch/config/simple_object_merger.param.yaml b/aip_x2_gen2_launch/config/simple_object_merger.param.yaml index a817e0b7..b85c9ce6 100644 --- a/aip_x2_gen2_launch/config/simple_object_merger.param.yaml +++ b/aip_x2_gen2_launch/config/simple_object_merger.param.yaml @@ -3,4 +3,4 @@ update_rate_hz: 20.0 new_frame_id: "base_link" timeout_threshold: 1.0 - input_topics: ["/sensing/radar/front_center/detected_objects", "/sensing/radar/front_left/detected_objects", "/sensing/radar/rear_left/detected_objects", "/sensing/radar/rear_center/detected_objects", "/sensing/radar/rear_right/detected_objects", "/sensing/radar/front_right/detected_objects"] + input_topics: ["/sensing/radar/front_center/detected_objects", "/sensing/radar/rear_center/detected_objects"] diff --git a/common_sensor_launch/config/radar_tracks_msgs_converter.param.yaml b/common_sensor_launch/config/radar_tracks_msgs_converter.param.yaml index 7b344aaa..933cdd0b 100644 --- a/common_sensor_launch/config/radar_tracks_msgs_converter.param.yaml +++ b/common_sensor_launch/config/radar_tracks_msgs_converter.param.yaml @@ -2,6 +2,6 @@ ros__parameters: update_rate_hz: 20.0 new_frame_id: "base_link" - use_twist_compensation: true + use_twist_compensation: false use_twist_yaw_compensation: false static_object_speed_threshold: 1.0