feat: use nebula driver for aip_x1_1 sensor configuration #235
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Signed-off-by: 1222-takeshi <[email protected]>
Signed-off-by: 1222-takeshi <[email protected]>
Signed-off-by: 1222-takeshi <[email protected]>
1222-takeshi
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May 2, 2024
* feat: use nebula driver for aip_x1_1 Signed-off-by: 1222-takeshi <[email protected]> * ci(pre-commit): autofix * chore: remove comment out Signed-off-by: 1222-takeshi <[email protected]> * chore: remove unnecessary changes Signed-off-by: 1222-takeshi <[email protected]> --------- Signed-off-by: 1222-takeshi <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Autumn60
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Sep 17, 2024
* feat: use nebula driver for aip_x1_1 Signed-off-by: 1222-takeshi <[email protected]> * ci(pre-commit): autofix * chore: remove comment out Signed-off-by: 1222-takeshi <[email protected]> * chore: remove unnecessary changes Signed-off-by: 1222-takeshi <[email protected]> --------- Signed-off-by: 1222-takeshi <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Autumn60
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Sep 17, 2024
* feat: use nebula driver for aip_x1_1 Signed-off-by: 1222-takeshi <[email protected]> * ci(pre-commit): autofix * chore: remove comment out Signed-off-by: 1222-takeshi <[email protected]> * chore: remove unnecessary changes Signed-off-by: 1222-takeshi <[email protected]> --------- Signed-off-by: 1222-takeshi <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Autumn60
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Sep 27, 2024
* feat: use nebula driver for aip_x1_1 Signed-off-by: 1222-takeshi <[email protected]> * ci(pre-commit): autofix * chore: remove comment out Signed-off-by: 1222-takeshi <[email protected]> * chore: remove unnecessary changes Signed-off-by: 1222-takeshi <[email protected]> --------- Signed-off-by: 1222-takeshi <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Autumn60
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Sep 27, 2024
Signed-off-by: 1222-takeshi <[email protected]> fix(velodyne_node_container): fix param load failure Signed-off-by: 1222-takeshi <[email protected]> fix(diagnostic_aggregator): update sensor kit param (#22) (#23) * fix(diagnostic_aggregator): Modified aggregator confinguration to V1' * fix path on diagnostic aggregator fix: add vehicle_velocity_converter.launch (#146) fix: add vehicle_velocity_converter.launch to aip_x1_1_launch Signed-off-by: 1222-takeshi <[email protected]> feat: add use_awsim option and add gnss imu Signed-off-by: 1222-takeshi <[email protected]> feat: add GNSS Signed-off-by: 1222-takeshi <[email protected]> feat: update for upstream Signed-off-by: 1222-takeshi <[email protected]> feat: add use_awsim option Signed-off-by: 1222-takeshi <[email protected]> feat: change topic name Signed-off-by: 1222-takeshi <[email protected]> feat: add node alive monitoring Signed-off-by: 1222-takeshi <[email protected]> feat: add gnss Signed-off-by: 1222-takeshi <[email protected]> feat: update ground_segmentation param Signed-off-by: 1222-takeshi <[email protected]> feat: remove use_awsim option Signed-off-by: 1222-takeshi <[email protected]> feat: add cropbox filter Signed-off-by: 1222-takeshi <[email protected]> feat: add diag of gyro_bias_validator Signed-off-by: 1222-takeshi <[email protected]> chore: update for upstream Signed-off-by: 1222-takeshi <[email protected]> chore: comment out for avoid no diag stale Signed-off-by: 1222-takeshi <[email protected]> feat: add gnss.launch for x1_1 Signed-off-by: 1222-takeshi <[email protected]> feat: use pointcloud_container Signed-off-by: 1222-takeshi <[email protected]> fix: change topic name for ground segmentation Signed-off-by: 1222-takeshi <[email protected]> feat(aip_x1_launch): rename some topics Signed-off-by: 1222-takeshi <[email protected]> feat(aip_x1, aip_x1_1): use interpolate Signed-off-by: 1222-takeshi <[email protected]> feat(velodyne_node_container): use distortion_corrector Signed-off-by: 1222-takeshi <[email protected]> feat(ground_segmentation): change crop parameter Signed-off-by: 1222-takeshi <[email protected]> feat(obstacle_segmentation): relax ground_segmentation threshold Signed-off-by: 1222-takeshi <[email protected]> chore(ground_segmentation): change parameter name (#229) * chore(ground_segmentation): change parameter name Signed-off-by: 1222-takeshi <[email protected]> * ci(pre-commit): autofix --------- Signed-off-by: 1222-takeshi <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> chore(ground_segmentation): add missing parameters (#231) * chore(ground_segmentation): change parameter name Signed-off-by: 1222-takeshi <[email protected]> * ci(pre-commit): autofix * Add missing params to ground_segmentation.param.yaml Signed-off-by: Autumn60 <[email protected]> * ci(pre-commit): autofix * Add missing params to ground_segmentation.param.yaml Signed-off-by: Autumn60 <[email protected]> * Fix crop_box params in ground_segmentation.param.yaml Signed-off-by: Autumn60 <[email protected]> * Fix crop_box param in ground_segmentation.param.yaml Signed-off-by: Autumn60 <[email protected]> * Revert crop_box params Signed-off-by: Autumn60 <[email protected]> * Add cropbox param calc to ground_segmentation.launch.py Signed-off-by: Autumn60 <[email protected]> * chore(ground_segmentation): change margin_max_z for cropbox Signed-off-by: 1222-takeshi <[email protected]> --------- Signed-off-by: 1222-takeshi <[email protected]> Signed-off-by: Autumn60 <[email protected]> Co-authored-by: 1222-takeshi <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Autumn60 <[email protected]> feat: use nebula driver for aip_x1_1 sensor configuration (#235) * feat: use nebula driver for aip_x1_1 Signed-off-by: 1222-takeshi <[email protected]> * ci(pre-commit): autofix * chore: remove comment out Signed-off-by: 1222-takeshi <[email protected]> * chore: remove unnecessary changes Signed-off-by: 1222-takeshi <[email protected]> --------- Signed-off-by: 1222-takeshi <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> chore: remove aip_x1 and rename aip_x1_1 to aip_x1 Signed-off-by: 1222-takeshi <[email protected]> chore: rename aip_x1_1 to aip_x1 Signed-off-by: 1222-takeshi <[email protected]> chore: remove unused file and fix bug Signed-off-by: 1222-takeshi <[email protected]> ci(pre-commit): autofix fix: diag list Signed-off-by: 1222-takeshi <[email protected]>
Autumn60
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Oct 8, 2024
author 1222-takeshi <[email protected]> 1684121183 +0900 committer Autumn60 <[email protected]> 1728374152 +0900 feat: update aip_x1 to use XT32 Signed-off-by: 1222-takeshi <[email protected]> fix(velodyne_node_container): fix param load failure Signed-off-by: 1222-takeshi <[email protected]> fix(diagnostic_aggregator): update sensor kit param (#22) (#23) * fix(diagnostic_aggregator): Modified aggregator confinguration to V1' * fix path on diagnostic aggregator fix: add vehicle_velocity_converter.launch (#146) fix: add vehicle_velocity_converter.launch to aip_x1_1_launch Signed-off-by: 1222-takeshi <[email protected]> feat: add use_awsim option and add gnss imu Signed-off-by: 1222-takeshi <[email protected]> feat: add GNSS Signed-off-by: 1222-takeshi <[email protected]> feat: update for upstream Signed-off-by: 1222-takeshi <[email protected]> feat: add use_awsim option Signed-off-by: 1222-takeshi <[email protected]> feat: change topic name Signed-off-by: 1222-takeshi <[email protected]> feat: add node alive monitoring Signed-off-by: 1222-takeshi <[email protected]> feat: add gnss Signed-off-by: 1222-takeshi <[email protected]> feat: update ground_segmentation param Signed-off-by: 1222-takeshi <[email protected]> feat: remove use_awsim option Signed-off-by: 1222-takeshi <[email protected]> feat: add cropbox filter Signed-off-by: 1222-takeshi <[email protected]> feat: add diag of gyro_bias_validator Signed-off-by: 1222-takeshi <[email protected]> chore: update for upstream Signed-off-by: 1222-takeshi <[email protected]> chore: comment out for avoid no diag stale Signed-off-by: 1222-takeshi <[email protected]> feat: add gnss.launch for x1_1 Signed-off-by: 1222-takeshi <[email protected]> feat: use pointcloud_container Signed-off-by: 1222-takeshi <[email protected]> fix: change topic name for ground segmentation Signed-off-by: 1222-takeshi <[email protected]> feat(aip_x1_launch): rename some topics Signed-off-by: 1222-takeshi <[email protected]> feat(aip_x1, aip_x1_1): use interpolate Signed-off-by: 1222-takeshi <[email protected]> feat(velodyne_node_container): use distortion_corrector Signed-off-by: 1222-takeshi <[email protected]> feat(ground_segmentation): change crop parameter Signed-off-by: 1222-takeshi <[email protected]> feat(obstacle_segmentation): relax ground_segmentation threshold Signed-off-by: 1222-takeshi <[email protected]> chore(ground_segmentation): change parameter name (#229) * chore(ground_segmentation): change parameter name Signed-off-by: 1222-takeshi <[email protected]> * ci(pre-commit): autofix --------- Signed-off-by: 1222-takeshi <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> chore(ground_segmentation): add missing parameters (#231) * chore(ground_segmentation): change parameter name Signed-off-by: 1222-takeshi <[email protected]> * ci(pre-commit): autofix * Add missing params to ground_segmentation.param.yaml Signed-off-by: Autumn60 <[email protected]> * ci(pre-commit): autofix * Add missing params to ground_segmentation.param.yaml Signed-off-by: Autumn60 <[email protected]> * Fix crop_box params in ground_segmentation.param.yaml Signed-off-by: Autumn60 <[email protected]> * Fix crop_box param in ground_segmentation.param.yaml Signed-off-by: Autumn60 <[email protected]> * Revert crop_box params Signed-off-by: Autumn60 <[email protected]> * Add cropbox param calc to ground_segmentation.launch.py Signed-off-by: Autumn60 <[email protected]> * chore(ground_segmentation): change margin_max_z for cropbox Signed-off-by: 1222-takeshi <[email protected]> --------- Signed-off-by: 1222-takeshi <[email protected]> Signed-off-by: Autumn60 <[email protected]> Co-authored-by: 1222-takeshi <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Autumn60 <[email protected]> feat: use nebula driver for aip_x1_1 sensor configuration (#235) * feat: use nebula driver for aip_x1_1 Signed-off-by: 1222-takeshi <[email protected]> * ci(pre-commit): autofix * chore: remove comment out Signed-off-by: 1222-takeshi <[email protected]> * chore: remove unnecessary changes Signed-off-by: 1222-takeshi <[email protected]> --------- Signed-off-by: 1222-takeshi <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> chore: remove aip_x1 and rename aip_x1_1 to aip_x1 Signed-off-by: 1222-takeshi <[email protected]> chore: rename aip_x1_1 to aip_x1 Signed-off-by: 1222-takeshi <[email protected]> chore: remove unused file and fix bug Signed-off-by: 1222-takeshi <[email protected]> ci(pre-commit): autofix fix: diag list Signed-off-by: 1222-takeshi <[email protected]> fix cancat lidar topics Signed-off-by: 1222-takeshi <[email protected]>
Autumn60
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Oct 8, 2024
Signed-off-by: 1222-takeshi <[email protected]> fix(velodyne_node_container): fix param load failure Signed-off-by: 1222-takeshi <[email protected]> fix(diagnostic_aggregator): update sensor kit param (#22) (#23) * fix(diagnostic_aggregator): Modified aggregator confinguration to V1' * fix path on diagnostic aggregator fix: add vehicle_velocity_converter.launch (#146) fix: add vehicle_velocity_converter.launch to aip_x1_1_launch Signed-off-by: 1222-takeshi <[email protected]> feat: add use_awsim option and add gnss imu Signed-off-by: 1222-takeshi <[email protected]> feat: add GNSS Signed-off-by: 1222-takeshi <[email protected]> feat: update for upstream Signed-off-by: 1222-takeshi <[email protected]> feat: add use_awsim option Signed-off-by: 1222-takeshi <[email protected]> feat: change topic name Signed-off-by: 1222-takeshi <[email protected]> feat: add node alive monitoring Signed-off-by: 1222-takeshi <[email protected]> feat: add gnss Signed-off-by: 1222-takeshi <[email protected]> feat: update ground_segmentation param Signed-off-by: 1222-takeshi <[email protected]> feat: remove use_awsim option Signed-off-by: 1222-takeshi <[email protected]> feat: add cropbox filter Signed-off-by: 1222-takeshi <[email protected]> feat: add diag of gyro_bias_validator Signed-off-by: 1222-takeshi <[email protected]> chore: update for upstream Signed-off-by: 1222-takeshi <[email protected]> chore: comment out for avoid no diag stale Signed-off-by: 1222-takeshi <[email protected]> feat: add gnss.launch for x1_1 Signed-off-by: 1222-takeshi <[email protected]> feat: use pointcloud_container Signed-off-by: 1222-takeshi <[email protected]> fix: change topic name for ground segmentation Signed-off-by: 1222-takeshi <[email protected]> feat(aip_x1_launch): rename some topics Signed-off-by: 1222-takeshi <[email protected]> feat(aip_x1, aip_x1_1): use interpolate Signed-off-by: 1222-takeshi <[email protected]> feat(velodyne_node_container): use distortion_corrector Signed-off-by: 1222-takeshi <[email protected]> feat(ground_segmentation): change crop parameter Signed-off-by: 1222-takeshi <[email protected]> feat(obstacle_segmentation): relax ground_segmentation threshold Signed-off-by: 1222-takeshi <[email protected]> chore(ground_segmentation): change parameter name (#229) * chore(ground_segmentation): change parameter name Signed-off-by: 1222-takeshi <[email protected]> * ci(pre-commit): autofix --------- Signed-off-by: 1222-takeshi <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> chore(ground_segmentation): add missing parameters (#231) * chore(ground_segmentation): change parameter name Signed-off-by: 1222-takeshi <[email protected]> * ci(pre-commit): autofix * Add missing params to ground_segmentation.param.yaml Signed-off-by: Autumn60 <[email protected]> * ci(pre-commit): autofix * Add missing params to ground_segmentation.param.yaml Signed-off-by: Autumn60 <[email protected]> * Fix crop_box params in ground_segmentation.param.yaml Signed-off-by: Autumn60 <[email protected]> * Fix crop_box param in ground_segmentation.param.yaml Signed-off-by: Autumn60 <[email protected]> * Revert crop_box params Signed-off-by: Autumn60 <[email protected]> * Add cropbox param calc to ground_segmentation.launch.py Signed-off-by: Autumn60 <[email protected]> * chore(ground_segmentation): change margin_max_z for cropbox Signed-off-by: 1222-takeshi <[email protected]> --------- Signed-off-by: 1222-takeshi <[email protected]> Signed-off-by: Autumn60 <[email protected]> Co-authored-by: 1222-takeshi <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Autumn60 <[email protected]> feat: use nebula driver for aip_x1_1 sensor configuration (#235) * feat: use nebula driver for aip_x1_1 Signed-off-by: 1222-takeshi <[email protected]> * ci(pre-commit): autofix * chore: remove comment out Signed-off-by: 1222-takeshi <[email protected]> * chore: remove unnecessary changes Signed-off-by: 1222-takeshi <[email protected]> --------- Signed-off-by: 1222-takeshi <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> chore: remove aip_x1 and rename aip_x1_1 to aip_x1 Signed-off-by: 1222-takeshi <[email protected]> chore: rename aip_x1_1 to aip_x1 Signed-off-by: 1222-takeshi <[email protected]> chore: remove unused file and fix bug Signed-off-by: 1222-takeshi <[email protected]> ci(pre-commit): autofix fix: diag list Signed-off-by: 1222-takeshi <[email protected]> fix cancat lidar topics Signed-off-by: 1222-takeshi <[email protected]>
Autumn60
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Oct 15, 2024
* feat: update aip_x1 to use XT32 Signed-off-by: 1222-takeshi <[email protected]> fix(velodyne_node_container): fix param load failure Signed-off-by: 1222-takeshi <[email protected]> fix(diagnostic_aggregator): update sensor kit param (#22) (#23) * fix(diagnostic_aggregator): Modified aggregator confinguration to V1' * fix path on diagnostic aggregator fix: add vehicle_velocity_converter.launch (#146) fix: add vehicle_velocity_converter.launch to aip_x1_1_launch Signed-off-by: 1222-takeshi <[email protected]> feat: add use_awsim option and add gnss imu Signed-off-by: 1222-takeshi <[email protected]> feat: add GNSS Signed-off-by: 1222-takeshi <[email protected]> feat: update for upstream Signed-off-by: 1222-takeshi <[email protected]> feat: add use_awsim option Signed-off-by: 1222-takeshi <[email protected]> feat: change topic name Signed-off-by: 1222-takeshi <[email protected]> feat: add node alive monitoring Signed-off-by: 1222-takeshi <[email protected]> feat: add gnss Signed-off-by: 1222-takeshi <[email protected]> feat: update ground_segmentation param Signed-off-by: 1222-takeshi <[email protected]> feat: remove use_awsim option Signed-off-by: 1222-takeshi <[email protected]> feat: add cropbox filter Signed-off-by: 1222-takeshi <[email protected]> feat: add diag of gyro_bias_validator Signed-off-by: 1222-takeshi <[email protected]> chore: update for upstream Signed-off-by: 1222-takeshi <[email protected]> chore: comment out for avoid no diag stale Signed-off-by: 1222-takeshi <[email protected]> feat: add gnss.launch for x1_1 Signed-off-by: 1222-takeshi <[email protected]> feat: use pointcloud_container Signed-off-by: 1222-takeshi <[email protected]> fix: change topic name for ground segmentation Signed-off-by: 1222-takeshi <[email protected]> feat(aip_x1_launch): rename some topics Signed-off-by: 1222-takeshi <[email protected]> feat(aip_x1, aip_x1_1): use interpolate Signed-off-by: 1222-takeshi <[email protected]> feat(velodyne_node_container): use distortion_corrector Signed-off-by: 1222-takeshi <[email protected]> feat(ground_segmentation): change crop parameter Signed-off-by: 1222-takeshi <[email protected]> feat(obstacle_segmentation): relax ground_segmentation threshold Signed-off-by: 1222-takeshi <[email protected]> chore(ground_segmentation): change parameter name (#229) * chore(ground_segmentation): change parameter name Signed-off-by: 1222-takeshi <[email protected]> * ci(pre-commit): autofix --------- Signed-off-by: 1222-takeshi <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> chore(ground_segmentation): add missing parameters (#231) * chore(ground_segmentation): change parameter name Signed-off-by: 1222-takeshi <[email protected]> * ci(pre-commit): autofix * Add missing params to ground_segmentation.param.yaml Signed-off-by: Autumn60 <[email protected]> * ci(pre-commit): autofix * Add missing params to ground_segmentation.param.yaml Signed-off-by: Autumn60 <[email protected]> * Fix crop_box params in ground_segmentation.param.yaml Signed-off-by: Autumn60 <[email protected]> * Fix crop_box param in ground_segmentation.param.yaml Signed-off-by: Autumn60 <[email protected]> * Revert crop_box params Signed-off-by: Autumn60 <[email protected]> * Add cropbox param calc to ground_segmentation.launch.py Signed-off-by: Autumn60 <[email protected]> * chore(ground_segmentation): change margin_max_z for cropbox Signed-off-by: 1222-takeshi <[email protected]> --------- Signed-off-by: 1222-takeshi <[email protected]> Signed-off-by: Autumn60 <[email protected]> Co-authored-by: 1222-takeshi <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Autumn60 <[email protected]> feat: use nebula driver for aip_x1_1 sensor configuration (#235) * feat: use nebula driver for aip_x1_1 Signed-off-by: 1222-takeshi <[email protected]> * ci(pre-commit): autofix * chore: remove comment out Signed-off-by: 1222-takeshi <[email protected]> * chore: remove unnecessary changes Signed-off-by: 1222-takeshi <[email protected]> --------- Signed-off-by: 1222-takeshi <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> chore: remove aip_x1 and rename aip_x1_1 to aip_x1 Signed-off-by: 1222-takeshi <[email protected]> chore: rename aip_x1_1 to aip_x1 Signed-off-by: 1222-takeshi <[email protected]> chore: remove unused file and fix bug Signed-off-by: 1222-takeshi <[email protected]> ci(pre-commit): autofix fix: diag list Signed-off-by: 1222-takeshi <[email protected]> fix cancat lidar topics Signed-off-by: 1222-takeshi <[email protected]> * feat: add input_offset parameter to pointcloud preprocessor launch Signed-off-by: asa-naki <[email protected]> * feat: nebula_hw_monitor is not started except when simulation is running Signed-off-by: 1222-takeshi <[email protected]> * chore(blockage_diag): update param for aip_x1_launch (#268) * add enable_blockage_diag argument to lidar.launch.xml Signed-off-by: Autumn60 <[email protected]> * ci(pre-commit): autofix --------- Signed-off-by: Autumn60 <[email protected]> Co-authored-by: Autumn60 <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix: change container name Signed-off-by: 1222-takeshi <[email protected]> * chore: add prefix for rosdep Signed-off-by: 1222-takeshi <[email protected]> * fix: config for awsim (#289) * delete unnecessary arg passing Signed-off-by: Autumn60 <[email protected]> * fix gnss_poser param Signed-off-by: Autumn60 <[email protected]> * Adjust gnss launching condition Signed-off-by: Autumn60 <[email protected]> * fix invalid tag usage Signed-off-by: Autumn60 <[email protected]> * ci(pre-commit): autofix --------- Signed-off-by: Autumn60 <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * chore: replace use_awsim to use_gnss (#292) replace use_awsim to use_gnss Signed-off-by: Autumn60 <[email protected]> --------- Signed-off-by: 1222-takeshi <[email protected]> Signed-off-by: asa-naki <[email protected]> Signed-off-by: Autumn60 <[email protected]> Signed-off-by: Autumn60 <[email protected]> Co-authored-by: 1222-takeshi <[email protected]> Co-authored-by: asa-naki <[email protected]> Co-authored-by: Autumn60 <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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This PR replaces the LiDAR drivers for Velodyne and Hesai with the Nebula driver.
It also applies the changes to the aip_x1_1 sensor configuration.
This PR is making changes to the minor branch.