now it works

tier4 · Jan 11, 2024 · 9dc0bcd · 9dc0bcd
1 parent d911abc
commit 9dc0bcd
Showing 1 changed file with 0 additions and 6 deletions.
diff --git a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
@@ -57,14 +57,12 @@ def launch_setup(context, *args, **kwargs):
                         "/sensing/lidar/top/outlier_filtered/pointcloud",
                         "/sensing/lidar/left/outlier_filtered/pointcloud",
                         "/sensing/lidar/right/outlier_filtered/pointcloud",
-                        "/sensing/lidar/rear/outlier_filtered/pointcloud",
                     ],
                     "output_frame": LaunchConfiguration("base_frame"),
                     "input_offset": [
                         0.035,
                         0.025,
                         0.025,
-                        0.025,
                     ],  # each sensor will wait 60, 70, 70, 70ms
                     "timeout_sec": 0.095,  # set shorter than 100ms
                 }
@@ -95,15 +93,13 @@ def launch_setup(context, *args, **kwargs):
                         "/sensing/lidar/top/outlier_filtered/pointcloud",
                         "/sensing/lidar/left/outlier_filtered/pointcloud",
                         "/sensing/lidar/right/outlier_filtered/pointcloud",
-                        "/sensing/lidar/rear/outlier_filtered/pointcloud",
                     ],
                     "output_frame": LaunchConfiguration("base_frame"),
                     "approximate_sync": True,
                     "input_offset": [
                         0.035,
                         0.025,
                         0.025,
-                        0.025,
                     ],  # each sensor will wait 60, 70, 70, 70ms
                     "timeout_sec": 0.095,  # set shorter than 100ms
                 }
@@ -128,15 +124,13 @@ def launch_setup(context, *args, **kwargs):
                         "/sensing/lidar/top/outlier_filtered/pointcloud",
                         "/sensing/lidar/left/outlier_filtered/pointcloud",
                         "/sensing/lidar/right/outlier_filtered/pointcloud",
-                        "/sensing/lidar/rear/outlier_filtered/pointcloud",
                     ],
                     "output_frame": LaunchConfiguration("base_frame"),
                     "approximate_sync": True,
                     "input_offset": [
                         0.035,
                         0.025,
                         0.025,
-                        0.025,
                     ],  # each sensor will wait 60, 70, 70, 70ms
                     "timeout_sec": 0.095,  # set shorter than 100ms
                 }