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fix: add blockage for xx1 #191
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badai-nguyen
merged 13 commits into
tier4:tier4/universe
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badai-nguyen:fix/add_blockage_xx1
Mar 19, 2024
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ca44474
fix: enable blocakge diag for xx1
badai-nguyen 8e3ac8b
fix: xx1 launch
badai-nguyen 4748c45
fix: x2 launch
badai-nguyen 2bfc94c
ci(pre-commit): autofix
pre-commit-ci[bot] 15cb8e3
fix: remove duplicated angle_range param
badai-nguyen fa93588
fix: remove x2 redundant param
badai-nguyen f052504
Merge branch 'tier4/universe' into fix/add_blockage_xx1
badai-nguyen 9b4b8ef
chore: update config file
badai-nguyen fd4bc4a
chore: disable xx1 blockage as default
badai-nguyen f5b67cc
Merge branch 'tier4/universe' into fix/add_blockage_xx1
badai-nguyen 57612b6
fix: velodyne launch
badai-nguyen 38eb072
Revert "fix: remove x2 redundant param"
badai-nguyen d0e4c12
Revert "fix: x2 launch"
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Original file line number | Diff line number | Diff line change |
---|---|---|
|
@@ -12,4 +12,5 @@ endif() | |
ament_auto_package(INSTALL_TO_SHARE | ||
config | ||
launch | ||
config | ||
) |
12 changes: 12 additions & 0 deletions
12
common_sensor_launch/config/blockage_diagnostics_param_file.yaml
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Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,12 @@ | ||
/**: | ||
ros__parameters: | ||
blockage_ratio_threshold: 0.1 | ||
blockage_count_threshold: 50 | ||
blockage_buffering_frames: 2 | ||
blockage_buffering_interval: 1 | ||
dust_ratio_threshold: 0.2 | ||
dust_count_threshold: 10 | ||
dust_kernel_size: 2 | ||
dust_buffering_frames: 10 | ||
dust_buffering_interval: 1 | ||
blockage_kernel: 10 |
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[Q]
Is
ring_id: 64
correct?Has this algorithm taken into account the arrangement pattern of the lasers?
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@miursh
As confirmation in Rviz, the velodyne ring IDs are arranged in the order as the assumption of the current algorithm that ring_id will be whether Top to Bottom or Bottom to Top.
In VLS128 the order is from the bottom.
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@badai-nguyen
Ah, I see. Understood.
However, is 64 is really horizontal?
Typically, there are more downward-facing lasers than upward-facing ones, so I doubt that the center would be horizontal.
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@miursh Thank you for your comment.
Currently, I checked on the kind of empty environment and I think 64 is acceptable.
I think it also could be adjusted if any feedback after the function is enabled for operation.