change concate lidars

tier4 · Feb 28, 2024 · 7c307ee · 7c307ee
1 parent 3f9e267
commit 7c307ee
Showing 1 changed file with 5 additions and 3 deletions.
diff --git a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
@@ -39,16 +39,18 @@ def launch_setup(context, *args, **kwargs):
             {
                 "input_topics": [
                     "/sensing/lidar/top/pointcloud",
-                    "/sensing/lidar/left/pointcloud",
-                    "/sensing/lidar/right/pointcloud",
-                    "/sensing/lidar/rear/pointcloud",
+                    "/sensing/lidar/side_left/pointcloud",
+                    "/sensing/lidar/side_right/pointcloud",
+                    "/sensing/lidar/front_left/pointcloud",
+                    "/sensing/lidar/front_right/pointcloud",
                 ],
                 "output_frame": LaunchConfiguration("base_frame"),
                 "input_offset": [
                     0.035,
                     0.025,
                     0.025,
                     0.025,
+                    0.025,
                 ],  # each sensor will wait 60, 70, 70, 70ms
                 "timeout_sec": 0.095,  # set shorter than 100ms
                 "input_twist_topic_type": "twist",