feat: enable radar launch and concatenation for all lidars

Signed-off-by: j4tfwm6z <[email protected]>
tier4 · Mar 12, 2024 · c93ee98 · c93ee98
1 parent d6f6640
commit c93ee98
Showing 1 changed file with 8 additions and 8 deletions.
diff --git a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
@@ -39,18 +39,18 @@ def launch_setup(context, *args, **kwargs):
             {
                 "input_topics": [
                     "/sensing/lidar/top/pointcloud_before_sync",
-                    # "/sensing/lidar/side_left/pointcloud_before_sync",
-                    # "/sensing/lidar/side_right/pointcloud_before_sync",
-                    # "/sensing/lidar/front_left/pointcloud_before_sync",
-                    # "/sensing/lidar/front_right/pointcloud_before_sync",
+                    "/sensing/lidar/side_left/pointcloud_before_sync",
+                    "/sensing/lidar/side_right/pointcloud_before_sync",
+                    "/sensing/lidar/front_left/pointcloud_before_sync",
+                    "/sensing/lidar/front_right/pointcloud_before_sync",
                 ],
                 "output_frame": LaunchConfiguration("base_frame"),
                 "input_offset": [
                     0.035,
-                    # 0.025,
-                    # 0.025,
-                    # 0.025,
-                    # 0.025,
+                    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",