feat: change pointcloud concatenation timeout setting for each lidar …

…sensors in xx1 laucher (#134) * change lidar sync timeout settings Signed-off-by: yoshiri <[email protected]> * ci(pre-commit): autofix * fix input offset size to fit with input topic num Signed-off-by: yoshiri <[email protected]> * ci(pre-commit): autofix * use left/right lidar Signed-off-by: yoshiri <[email protected]> * ci(pre-commit): autofix --------- Signed-off-by: yoshiri <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
tier4 · Apr 28, 2023 · 4a50e4f · 4a50e4f
1 parent 75082b6
commit 4a50e4f
Showing 1 changed file with 9 additions and 2 deletions.
diff --git a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
@@ -36,11 +36,18 @@ def launch_setup(context, *args, **kwargs):
             {
                 "input_topics": [
                     "/sensing/lidar/top/outlier_filtered/pointcloud",
-                    # "/sensing/lidar/left/outlier_filtered/pointcloud",
-                    # "/sensing/lidar/right/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": [
+                    0.055,
+                    0.025,
+                    0.025,
+                    0.025,
+                ],  # each sensor will wait 20, 50, 50, 50ms
+                "timeout_sec": 0.075,  # set shorter than 100ms
             }
         ],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],