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feat: add params and diag about dust-detection #116

Merged
merged 8 commits into from
Sep 28, 2023
Merged

feat: add params and diag about dust-detection #116

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dc2372a
correspond to sensing/t4-wholedust-dev
swiftfile Mar 15, 2023
abb9107
add diag /sensing/lidar/~/dust ,add params
swiftfile Mar 28, 2023
88abd30
correspond to sensing/t4-wholedust-dev
swiftfile Mar 15, 2023
c465097
add diag /sensing/lidar/~/dust ,add params
swiftfile Mar 28, 2023
a01f9fc
Merge remote-tracking branch 'swiftfile/sensing/t4-wholedust-dev' int…
swiftfile Mar 28, 2023
92e8123
change initial parameter
swiftfile Mar 28, 2023
7641b89
Merge branch 'tier4/universe' into sensing/t4-wholedust-dev
badai-nguyen Sep 22, 2023
09c3650
chore: refactor
badai-nguyen Sep 24, 2023
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6 changes: 6 additions & 0 deletions aip_x2_launch/config/diagnostic_aggregator/sensor_kit.param.yaml
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Expand Up @@ -61,6 +61,12 @@
contains: [": pandar_ptp"]
timeout: 5.0

dust:
type: diagnostic_aggregator/GenericAnalyzer
path: dust
contains: [": dust_validation"]
timeout: 1.0

gnss:
type: diagnostic_aggregator/AnalyzerGroup
path: gnss
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9 changes: 7 additions & 2 deletions aip_x2_launch/launch/pandar_node_container.launch.py
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Expand Up @@ -342,8 +342,13 @@ def add_launch_arg(name: str, default_value=None):
add_launch_arg("blockage_ratio_threshold", "0.1")
add_launch_arg("horizontal_ring_id", "12")
add_launch_arg("blockage_count_threshold", "50")
add_launch_arg("buffering_frames", "2")
add_launch_arg("buffering_interval", "1")
add_launch_arg("blockage_buffering_frames", "2")
add_launch_arg("blockage_buffering_interval", "1")
add_launch_arg("dust_ratio_threshold", "0.2")
add_launch_arg("dust_count_threshold", "10")
add_launch_arg("dust_kernel_size", "2")
add_launch_arg("dust_buffering_frames", "10")
add_launch_arg("dust_buffering_interval", "1")

add_launch_arg("min_azimuth_deg", "135.0")
add_launch_arg("max_azimuth_deg", "225.0")
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