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feat: initialize parameters for concatenate
Signed-off-by: vividf <[email protected]>
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aip_x1_launch/config/concatenate_and_time_sync_node.param.yaml
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/**: | ||
ros__parameters: | ||
debug_mode: false | ||
has_static_tf_only: false | ||
rosbag_replay: false | ||
rosbag_length: 20.0 | ||
maximum_queue_size: 5 | ||
timeout_sec: 0.2 | ||
is_motion_compensated: true | ||
publish_synchronized_pointcloud: true | ||
keep_input_frame_in_synchronized_pointcloud: true | ||
publish_previous_but_late_pointcloud: false | ||
synchronized_pointcloud_postfix: pointcloud | ||
input_twist_topic_type: twist | ||
input_topics: [ | ||
"/sensing/lidar/top/pointcloud_before_sync", # unknown timestamp | ||
"/sensing/lidar/front_center/pointcloud_before_sync", # unknown timestamp | ||
] | ||
output_frame: base_link | ||
lidar_timestamp_offsets: [0.0, 0.02] # unknown offset | ||
lidar_timestamp_noise_window: [0.01, 0.01] |
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aip_x2_launch/config/concatenate_and_time_sync_node.param.yaml
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/**: | ||
ros__parameters: | ||
debug_mode: false | ||
has_static_tf_only: false | ||
rosbag_replay: false | ||
rosbag_length: 20.0 | ||
maximum_queue_size: 5 | ||
timeout_sec: 0.2 | ||
is_motion_compensated: true | ||
publish_synchronized_pointcloud: true | ||
keep_input_frame_in_synchronized_pointcloud: true | ||
publish_previous_but_late_pointcloud: false | ||
synchronized_pointcloud_postfix: pointcloud | ||
input_twist_topic_type: twist | ||
input_topics: [ | ||
"/sensing/lidar/left_upper/pointcloud_before_sync", # 0.05 | ||
"/sensing/lidar/left_lower/pointcloud_before_sync", # 0.05 | ||
"/sensing/lidar/front_upper/pointcloud_before_sync", # 0.025 | ||
"/sensing/lidar/front_lower/pointcloud_before_sync", # 0.074 | ||
"/sensing/lidar/right_upper/pointcloud_before_sync", # 0.091 | ||
"/sensing/lidar/right_lower/pointcloud_before_sync", # 0.00 | ||
"/sensing/lidar/rear_upper/pointcloud_before_sync", # 0.055 | ||
"/sensing/lidar/rear_lower/pointcloud_before_sync", # 0.065 | ||
] | ||
output_frame: base_link | ||
lidar_timestamp_offsets: [0.0, 0.0, 0.075, 0.024, 0.041, 0.05, 0.005, 0.015] | ||
lidar_timestamp_noise_window: [0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01] |
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23 changes: 23 additions & 0 deletions
23
aip_xx1_gen2_launch/config/concatenate_and_time_sync_node.param.yaml
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/**: | ||
ros__parameters: | ||
debug_mode: false | ||
has_static_tf_only: false | ||
rosbag_replay: false | ||
rosbag_length: 20.0 | ||
maximum_queue_size: 5 | ||
timeout_sec: 0.2 | ||
is_motion_compensated: true | ||
publish_synchronized_pointcloud: true | ||
keep_input_frame_in_synchronized_pointcloud: true | ||
publish_previous_but_late_pointcloud: false | ||
synchronized_pointcloud_postfix: pointcloud | ||
input_twist_topic_type: twist | ||
input_topics: [ | ||
"/sensing/lidar/top/pointcloud", # unknown timestamp | ||
"/sensing/lidar/left/pointcloud", # unknown timestamp | ||
"/sensing/lidar/right/pointcloud", # unknown timestamp | ||
"/sensing/lidar/rear/pointcloud", # unknown timestamp | ||
] | ||
output_frame: base_link | ||
lidar_timestamp_offsets: [0.0, 0.02, 0.02, 0.02] # unknown offset | ||
lidar_timestamp_noise_window: [0.01, 0.01, 0.01, 0.01] |
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23 changes: 23 additions & 0 deletions
23
aip_xx1_launch/config/concatenate_and_time_sync_node.param.yaml
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/**: | ||
ros__parameters: | ||
debug_mode: false | ||
has_static_tf_only: false | ||
rosbag_replay: false | ||
rosbag_length: 20.0 | ||
maximum_queue_size: 5 | ||
timeout_sec: 0.2 | ||
is_motion_compensated: true | ||
publish_synchronized_pointcloud: true | ||
keep_input_frame_in_synchronized_pointcloud: true | ||
publish_previous_but_late_pointcloud: false | ||
synchronized_pointcloud_postfix: pointcloud | ||
input_twist_topic_type: twist | ||
input_topics: [ | ||
"/sensing/lidar/top/pointcloud_before_sync", # 0.08 | ||
"/sensing/lidar/left/pointcloud_before_sync", # 0.00 | ||
"/sensing/lidar/right/pointcloud_before_sync", # 0.00 | ||
"/sensing/lidar/rear/pointcloud_before_sync", # 0.00 | ||
] | ||
output_frame: base_link | ||
lidar_timestamp_offsets: [0.0, 0.02, 0.02, 0.02] | ||
lidar_timestamp_noise_window: [0.01, 0.01, 0.01, 0.01] |
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