From c256f7842e4841f611f87c5e1c6b1f987303199e Mon Sep 17 00:00:00 2001 From: vividf Date: Mon, 2 Dec 2024 16:17:27 +0900 Subject: [PATCH] feat: add concatenate parameter for tier4_awsim and awsim_lab Signed-off-by: vividf --- .../concatenate_and_time_sync_node.param.yaml | 22 +++++++++++++++++++ .../concatenate_and_time_sync_node.param.yaml | 22 +++++++++++++++++++ 2 files changed, 44 insertions(+) create mode 100644 individual_params/config/default/awsim_labs_sensor_kit/concatenate_and_time_sync_node.param.yaml create mode 100644 individual_params/config/default/awsim_sensor_kit/concatenate_and_time_sync_node.param.yaml diff --git a/individual_params/config/default/awsim_labs_sensor_kit/concatenate_and_time_sync_node.param.yaml b/individual_params/config/default/awsim_labs_sensor_kit/concatenate_and_time_sync_node.param.yaml new file mode 100644 index 0000000..3605ef5 --- /dev/null +++ b/individual_params/config/default/awsim_labs_sensor_kit/concatenate_and_time_sync_node.param.yaml @@ -0,0 +1,22 @@ +/**: + ros__parameters: + debug_mode: false + has_static_tf_only: false + rosbag_replay: false + rosbag_length: 20.0 + maximum_queue_size: 5 + timeout_sec: 0.2 + is_motion_compensated: false + 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/right/pointcloud_before_sync", # 0.05 + "/sensing/lidar/top/pointcloud_before_sync", # 0.05 + "/sensing/lidar/left/pointcloud_before_sync", # 0.05 + ] + output_frame: base_link + lidar_timestamp_offsets: [0.0, 0.0, 0.0] + lidar_timestamp_noise_window: [0.01, 0.01, 0.01] diff --git a/individual_params/config/default/awsim_sensor_kit/concatenate_and_time_sync_node.param.yaml b/individual_params/config/default/awsim_sensor_kit/concatenate_and_time_sync_node.param.yaml new file mode 100644 index 0000000..39dc86d --- /dev/null +++ b/individual_params/config/default/awsim_sensor_kit/concatenate_and_time_sync_node.param.yaml @@ -0,0 +1,22 @@ +/**: + ros__parameters: + debug_mode: false + has_static_tf_only: false + rosbag_replay: false + rosbag_length: 20.0 + maximum_queue_size: 5 + timeout_sec: 0.01 + is_motion_compensated: false + 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/right/pointcloud_before_sync", # Fill this after using the right point cloud + "/sensing/lidar/top/pointcloud_before_sync", # 0.05 + "/sensing/lidar/left/pointcloud_before_sync", # Fill this after using the left point cloud + ] + output_frame: base_link + lidar_timestamp_offsets: [0.0, 0.0, 0.0] + lidar_timestamp_noise_window: [0.01, 0.01, 0.01]