From bfe226093a90cc470a59a58e12a7e9ef5e9bc3ec Mon Sep 17 00:00:00 2001 From: Yoshi Ri Date: Mon, 4 Mar 2024 17:07:59 +0900 Subject: [PATCH] feat(common_sensor_launch, pointcloud_preprocessor): change pointcloud interface to synchronized pointclouds (#91) * feat: edn Signed-off-by: yoshiri * fix: suppress spell-check Signed-off-by: yoshiri * style(pre-commit): autofix * feat: interface change in sensing lidar pointcloud. use synchronized pointcloud as sensor interface Signed-off-by: yoshiri --------- Signed-off-by: yoshiri Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../launch/nebula_node_container.launch.py | 2 +- .../launch/pointcloud_preprocessor.launch.py | 7 ++++--- 2 files changed, 5 insertions(+), 4 deletions(-) diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py index f8de11e3..39dff348 100644 --- a/common_sensor_launch/launch/nebula_node_container.launch.py +++ b/common_sensor_launch/launch/nebula_node_container.launch.py @@ -202,7 +202,7 @@ def create_parameter_dict(*args): name="ring_outlier_filter", remappings=[ ("input", "rectified/pointcloud_ex"), - ("output", "pointcloud"), + ("output", "pointcloud_before_sync"), ], parameters=[ring_outlier_filter_parameters], extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], diff --git a/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py b/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py index 80e5f12a..8122b07e 100644 --- a/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py +++ b/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py @@ -37,12 +37,13 @@ def launch_setup(context, *args, **kwargs): parameters=[ { "input_topics": [ - "/sensing/lidar/top/pointcloud", - "/sensing/lidar/left/pointcloud", - "/sensing/lidar/right/pointcloud", + "/sensing/lidar/top/pointcloud_before_sync", + "/sensing/lidar/left/pointcloud_before_sync", + "/sensing/lidar/right/pointcloud_before_sync", ], "output_frame": LaunchConfiguration("base_frame"), "input_twist_topic_type": "twist", + "publish_synchronized_pointcloud": True, } ], extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],