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feat: change pointcloud concatenation timeout setting for each lidar sensors in xx1 laucher #134

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merged 8 commits into from
Apr 28, 2023
Merged

feat: change pointcloud concatenation timeout setting for each lidar sensors in xx1 laucher #134

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7f41389
change lidar sync timeout settings
YoshiRi Apr 28, 2023
35c8b01
ci(pre-commit): autofix
pre-commit-ci[bot] Apr 28, 2023
87f7b5a
fix input offset size to fit with input topic num
YoshiRi Apr 28, 2023
50a2391
fix remote merge issue
YoshiRi Apr 28, 2023
79df177
ci(pre-commit): autofix
pre-commit-ci[bot] Apr 28, 2023
4c4203b
use left/right lidar
YoshiRi Apr 28, 2023
b8ee151
use left/right lidar
YoshiRi Apr 28, 2023
fb796cc
ci(pre-commit): autofix
pre-commit-ci[bot] Apr 28, 2023
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2 changes: 2 additions & 0 deletions aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
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Expand Up @@ -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, 0.025], # each sensor will wait 20, 50, 50 ms
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"timeout_sec": 0.075, # set shorter than 100ms
}
],
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
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