feat: change pointcloud concatenation timeout setting for each lidar sensors in xx1 laucher #134
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Signed-off-by: yoshiri <[email protected]>
miursh
reviewed
Apr 28, 2023
Signed-off-by: yoshiri <[email protected]>
Signed-off-by: yoshiri <[email protected]>
shmpwk
approved these changes
Apr 28, 2023
| @@ -41,6 +41,8 @@ def launch_setup(context, *args, **kwargs): | |||
| "/sensing/lidar/rear/outlier_filtered/pointcloud", | |||
| ], | |||
| "output_frame": LaunchConfiguration("base_frame"), | |||
| "input_offset": [0.055, 0.025], # each sensor will wait 20, 50, 50, 50ms | |||
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@YoshiRi Could you explain what does the value mean? I cannot figure out the number 0.055, for example.
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A.
（topのlidar点群を受け取ったあとは75-55=20msまで欠損・遅れ点群を待つようになります。他のセンサは50ms待ちます。）
詳細
timerが設定されていてtopicが揃うかtimerが時間切れになるとpublishします
publish時の他に、各topicを受け取ったときにtimerを延長して他のセンサを待ちます。
この時の待ち時間は default_timeout - offset で計算されます
xx1の場合top lidarが最も重要なので他センサはtop lidarを待つために50ms程度待ちます（PRの図にあるように理想状況だとtop lidarは30ms程度遅れるはず）
逆にtop lidarを受け取ったら理想状況だと他のセンサは到着しているはずなのでさっさとpublishするために待ち時間を短くしたいです。
20ms, 50msに特別強い根拠はないです。今まで感覚的に数十msくらい遅れることがあったよねという話でぱっと決まりました。（X2のパラメータも参考にしてます）
badai-nguyen
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May 11, 2023
…sensors in xx1 laucher (#134) * change lidar sync timeout settings Signed-off-by: yoshiri <[email protected]> * ci(pre-commit): autofix * fix input offset size to fit with input topic num Signed-off-by: yoshiri <[email protected]> * ci(pre-commit): autofix * use left/right lidar Signed-off-by: yoshiri <[email protected]> * ci(pre-commit): autofix --------- Signed-off-by: yoshiri <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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Changes
This PR tries to change following xx1 launch settings:
100msto75msso that the delayed sensor output will not concatenated with newer pointcloud group[top: 20ms, other: 50ms].top lidartoplidar for longer timeSettings figure:
Test
Run Lsim.