From 6e59490519dc0fdb3cd44e073454534d7560e310 Mon Sep 17 00:00:00 2001 From: vividf Date: Thu, 31 Oct 2024 14:36:48 +0900 Subject: [PATCH] chore: add xx1 gen2 parameters Signed-off-by: vividf --- .../concatenate_and_time_sync_node.param.yaml | 15 ++++++++------- 1 file changed, 8 insertions(+), 7 deletions(-) diff --git a/aip_xx1_gen2_launch/config/concatenate_and_time_sync_node.param.yaml b/aip_xx1_gen2_launch/config/concatenate_and_time_sync_node.param.yaml index 1bd1d0a0..bd1dc498 100644 --- a/aip_xx1_gen2_launch/config/concatenate_and_time_sync_node.param.yaml +++ b/aip_xx1_gen2_launch/config/concatenate_and_time_sync_node.param.yaml @@ -6,18 +6,19 @@ rosbag_length: 20.0 maximum_queue_size: 5 timeout_sec: 0.2 - is_motion_compensated: true + is_motion_compensated: false # no need to compensate for motion as lidar scan at the same time. publish_synchronized_pointcloud: true keep_input_frame_in_synchronized_pointcloud: true publish_previous_but_late_pointcloud: false synchronized_pointcloud_postfix: pointcloud input_twist_topic_type: twist input_topics: [ - "/sensing/lidar/top/pointcloud", # unknown timestamp - "/sensing/lidar/left/pointcloud", # unknown timestamp - "/sensing/lidar/right/pointcloud", # unknown timestamp - "/sensing/lidar/rear/pointcloud", # unknown timestamp + "/sensing/lidar/top/pointcloud_before_sync", # 0.99 + "/sensing/lidar/front_left/pointcloud_before_sync", # 0.99 + "/sensing/lidar/front_right/pointcloud_before_sync", # 0.99 + "/sensing/lidar/side_left/pointcloud_before_sync", # 0.99 + "/sensing/lidar/side_right/pointcloud_before_sync", # 0.99 ] output_frame: base_link - lidar_timestamp_offsets: [0.0, 0.02, 0.02, 0.02] # unknown offset - lidar_timestamp_noise_window: [0.01, 0.01, 0.01, 0.01] + lidar_timestamp_offsets: [0.0, 0.0, 0.0, 0.0, 0.0] + lidar_timestamp_noise_window: [0.01, 0.01, 0.01, 0.01, 0.01]