fix: add blockage for xx1 #191
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Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
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| @@ -24,6 +25,12 @@ | |||
| <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/> | |||
| <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/> | |||
| <arg name="container_name" value="$(var pointcloud_container_name)"/> | |||
| <arg name="angle_range" value="[0.0, 360.0]"/> | |||
| <arg name="vertical_bins" value="128"/> | |||
| <arg name="horizontal_ring_id" value="64"/> | |||
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[Q]
Is ring_id: 64 correct?
Has this algorithm taken into account the arrangement pattern of the lasers?
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@miursh
As confirmation in Rviz, the velodyne ring IDs are arranged in the order as the assumption of the current algorithm that ring_id will be whether Top to Bottom or Bottom to Top.
In VLS128 the order is from the bottom.
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@badai-nguyen
Ah, I see. Understood.
However, is 64 is really horizontal?
Typically, there are more downward-facing lasers than upward-facing ones, so I doubt that the center would be horizontal.
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@miursh Thank you for your comment.
Currently, I checked on the kind of empty environment and I think 64 is acceptable.
I think it also could be adjusted if any feedback after the function is enabled for operation.
Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
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@badai-nguyen Could you resolve conflicts? |
Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
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@miursh @kyoichi-sugahara Since the nebula azimuth correction bug still under investigation, so I change the default of xx1 blockage to Here is CI test result: https://evaluation.tier4.jp/evaluation/reports/44e36320-0062-5b34-9533-968fec2a958b?project_id=prd_jt |
Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
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@kyoichi-sugahara As our internal discusion, I also added the parameters for velodyne_xxx.launch.xml to make it more clearly here 57612b6 |
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@kyoichi-sugahara I have separated aip_x2_launch's parameters into PR #223 |
* fix: enable blocakge diag for xx1 Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: xx1 launch Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: x2 launch Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * ci(pre-commit): autofix * fix: remove duplicated angle_range param Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: remove x2 redundant param Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: update config file Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: disable xx1 blockage as default Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: velodyne launch Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * Revert "fix: remove x2 redundant param" This reverts commit fa93588. * Revert "fix: x2 launch" This reverts commit 4748c45. --------- Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
This to update aip_launch param as change in autowarefoundation/autoware.universe#5932 and enable blockage_diag for xx1.