Merge remote-tracking branch 'origin/main' into single-node-refactor-…

…velodyne
tier4 · May 20, 2024 · d003540 · d003540
2 parents cf68687 + 0ae9198
commit d003540
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Showing 5 changed files with 8 additions and 9 deletions.
diff --git a/nebula_tests/data/velodyne/vls128/1585897255376374245.pcd b/nebula_tests/data/velodyne/vls128/1585897255376374245.pcd
diff --git a/nebula_tests/data/velodyne/vls128/1614315746471294674/1614315746471294674_0.db3 b/nebula_tests/data/velodyne/vls128/1614315746471294674/1614315746471294674_0.db3
diff --git a/nebula_tests/data/velodyne/vls128/1614315746471294674/metadata.yaml b/nebula_tests/data/velodyne/vls128/1614315746471294674/metadata.yaml
@@ -2,15 +2,15 @@ rosbag2_bagfile_information:
   version: 5
   storage_identifier: sqlite3
   duration:
-    nanoseconds: 277624032
+    nanoseconds: 263164997
   starting_time:
-    nanoseconds_since_epoch: 1614315746471294674
+    nanoseconds_since_epoch: 1585897255313147068
   message_count: 4
   topics_with_message_count:
     - topic_metadata:
-        name: /sensing/lidar/top/velodyne_packets
+        name: /velodyne_packets
         type: velodyne_msgs/msg/VelodyneScan
-        serialization_format: cdr
+        serialization_format: ""
         offered_qos_profiles: ""
       message_count: 4
   compression_format: ""
@@ -20,7 +20,7 @@ rosbag2_bagfile_information:
   files:
     - path: 1614315746471294674_0.db3
       starting_time:
-        nanoseconds_since_epoch: 1614315746471294674
+        nanoseconds_since_epoch: 1585897255313147068
       duration:
-        nanoseconds: 277624032
-      message_count: 4
+        nanoseconds: 263164997
+      message_count: 4
diff --git a/nebula_tests/data/velodyne/vls128/1614315746748918706.pcd b/nebula_tests/data/velodyne/vls128/1614315746748918706.pcd
diff --git a/nebula_tests/velodyne/velodyne_ros_decoder_test_vls128.cpp b/nebula_tests/velodyne/velodyne_ros_decoder_test_vls128.cpp
@@ -220,7 +220,7 @@ Status VelodyneRosDecoderTest::GetParameters(
     descriptor.dynamic_typing = false;
     descriptor.additional_constraints = "";
     this->declare_parameter<std::string>(
-      "target_topic", "/sensing/lidar/top/velodyne_packets", descriptor);
+      "target_topic", "/velodyne_packets", descriptor);
     target_topic = this->get_parameter("target_topic").as_string();
   }
 
@@ -312,7 +312,6 @@ void VelodyneRosDecoderTest::ReadBag()
 
   storage_options.uri = bag_path;
   storage_options.storage_id = storage_id;
-  converter_options.output_serialization_format = format;  //"cdr";
   rclcpp::Serialization<velodyne_msgs::msg::VelodyneScan> serialization;
   nebula::drivers::NebulaPointCloudPtr pointcloud(new nebula::drivers::NebulaPointCloud);
   // nebula::drivers::NebulaPointCloudPtr ref_pointcloud(new nebula::drivers::NebulaPointCloud);