From 619bac3044331bdffa7e10c3b2c4a9fd0909e506 Mon Sep 17 00:00:00 2001 From: Tomohito Ando Date: Wed, 5 Feb 2025 14:30:28 +0900 Subject: [PATCH] update param file for x2 gen2 Signed-off-by: Tomohito Ando --- .../concatenate_and_time_sync_node.param.yaml | 22 +++++++++---------- 1 file changed, 11 insertions(+), 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 index fac6393b..71c53a5f 100644 --- 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]