update param file for x2 gen2

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>
tier4 · Feb 5, 2025 · 619bac3 · 619bac3
1 parent 53750f5
commit 619bac3
Showing 1 changed file with 11 additions and 11 deletions.
diff --git a/aip_x2_gen2_launch/config/concatenate_and_time_sync_node.param.yaml b/aip_x2_gen2_launch/config/concatenate_and_time_sync_node.param.yaml
@@ -5,24 +5,24 @@
     rosbag_length: 10.0
     maximum_queue_size: 5
     timeout_sec: 0.2
-    is_motion_compensated: true
-    publish_synchronized_pointcloud: true
+    is_motion_compensated: false
+    publish_synchronized_pointcloud: false
     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/rear_upper/pointcloud_before_sync", # 0.044
-                    "/sensing/lidar/rear_lower/pointcloud_before_sync", # 0.049
-                    "/sensing/lidar/left_upper/pointcloud_before_sync", # 0.05
-                    "/sensing/lidar/left_lower/pointcloud_before_sync", # 0.05
-                    "/sensing/lidar/front_upper/pointcloud_before_sync", # 0.075
-                    "/sensing/lidar/front_lower/pointcloud_before_sync", # 0.074
-                    "/sensing/lidar/right_upper/pointcloud_before_sync", # 0.090
-                    "/sensing/lidar/right_lower/pointcloud_before_sync", # 0.00
+                    "/sensing/lidar/left_lower/pointcloud_before_sync",
+                    "/sensing/lidar/left_upper/pointcloud_before_sync",
+                    "/sensing/lidar/front_lower/pointcloud_before_sync",
+                    "/sensing/lidar/front_upper/pointcloud_before_sync",
+                    "/sensing/lidar/right_upper/pointcloud_before_sync",
+                    "/sensing/lidar/right_lower/pointcloud_before_sync",
+                    "/sensing/lidar/rear_lower/pointcloud_before_sync",
+                    "/sensing/lidar/rear_upper/pointcloud_before_sync"
                 ]
     output_frame: base_link
     matching_strategy:
       type: advanced
-      lidar_timestamp_offsets: [0.0, 0.005, 0.006, 0.006, 0.031, 0.03, 0.046, 0.056]
+      lidar_timestamp_offsets: [0.0, 0.0, 0.025, 0.028, 0.026, 0.05, 0.075, 0.076]
       lidar_timestamp_noise_window: [0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01]