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fix(nebula_tests): correct scan cutting in VLS128 unit test ground truth #150

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May 20, 2024
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Binary file not shown.
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Original file line number Diff line number Diff line change
Expand Up @@ -2,15 +2,15 @@ rosbag2_bagfile_information:
version: 5
storage_identifier: sqlite3
duration:
nanoseconds: 277624032
nanoseconds: 263164997
starting_time:
nanoseconds_since_epoch: 1614315746471294674
nanoseconds_since_epoch: 1585897255313147068
message_count: 4
topics_with_message_count:
- topic_metadata:
name: /sensing/lidar/top/velodyne_packets
name: /velodyne_packets
type: velodyne_msgs/msg/VelodyneScan
serialization_format: cdr
serialization_format: ""
offered_qos_profiles: ""
message_count: 4
compression_format: ""
Expand All @@ -20,7 +20,7 @@ rosbag2_bagfile_information:
files:
- path: 1614315746471294674_0.db3
starting_time:
nanoseconds_since_epoch: 1614315746471294674
nanoseconds_since_epoch: 1585897255313147068
duration:
nanoseconds: 277624032
message_count: 4
nanoseconds: 263164997
message_count: 4
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3 changes: 1 addition & 2 deletions nebula_tests/velodyne/velodyne_ros_decoder_test_vls128.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -223,7 +223,7 @@ Status VelodyneRosDecoderTest::GetParameters(
descriptor.dynamic_typing = false;
descriptor.additional_constraints = "";
this->declare_parameter<std::string>(
"target_topic", "/sensing/lidar/top/velodyne_packets", descriptor);
"target_topic", "/velodyne_packets", descriptor);
target_topic = this->get_parameter("target_topic").as_string();
}

Expand Down Expand Up @@ -315,7 +315,6 @@ void VelodyneRosDecoderTest::ReadBag()

storage_options.uri = bag_path;
storage_options.storage_id = storage_id;
converter_options.output_serialization_format = format; //"cdr";
rclcpp::Serialization<velodyne_msgs::msg::VelodyneScan> serialization;
nebula::drivers::NebulaPointCloudPtr pointcloud(new nebula::drivers::NebulaPointCloud);
// nebula::drivers::NebulaPointCloudPtr ref_pointcloud(new nebula::drivers::NebulaPointCloud);
Expand Down
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