Update multi-return for more types of return and all RGL fields. #324
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…return configuration on RaytraceNode. Signed-off-by: Paweł Liberadzki <[email protected]>
Signed-off-by: Paweł Liberadzki <[email protected]>
Signed-off-by: Paweł Liberadzki <[email protected]>
Signed-off-by: Paweł Liberadzki <[email protected]>
Signed-off-by: Paweł Liberadzki <[email protected]>
Signed-off-by: Paweł Liberadzki <[email protected]>
Signed-off-by: Paweł Liberadzki <[email protected]>
… of multi-return. Signed-off-by: Paweł Liberadzki <[email protected]>
…minor TODOs. Signed-off-by: Paweł Liberadzki <[email protected]>
Signed-off-by: Paweł Liberadzki <[email protected]>
Signed-off-by: Paweł Liberadzki <[email protected]>
Signed-off-by: Paweł Liberadzki <[email protected]>
Signed-off-by: Paweł Liberadzki <[email protected]>
Signed-off-by: Paweł Liberadzki <[email protected]>
Signed-off-by: Paweł Liberadzki <[email protected]>
Signed-off-by: Paweł Liberadzki <[email protected]>
Signed-off-by: Paweł Liberadzki <[email protected]>
Signed-off-by: Paweł Liberadzki <[email protected]>
Signed-off-by: Paweł Liberadzki <[email protected]>
Signed-off-by: Paweł Liberadzki <[email protected]>
msz-rai
approved these changes
Aug 6, 2024
msz-rai
reviewed
Aug 6, 2024
msz-rai
reviewed
Aug 7, 2024
Signed-off-by: Paweł Liberadzki <[email protected]>
Signed-off-by: Paweł Liberadzki <[email protected]>
msz-rai
reviewed
Aug 22, 2024
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Description
This PRs introduces an update to RGL multi-return - more types are handled now (first, second, last, strongest and second strongest) and all RGL fields are handled. Moreover, this vastly simplifies an amount of effort to introduce multi-return for ROS 2 and UDP publishing.
A temporary downgrade is that multi-return samples are allocated even if beam divergence is set to zero. However, that was the case also before this update. This will be solved in close future PRs.
Multi-return modes and beam divergences are configurable at runtime.
Testing
Run implemented unit tests - most important here is asyncStressTest. For runtime check I propose running cube_in_motion test from multiReturnTest suite - uncomment GTEST_SKIP there. Results are visible in RViz2 ("world" frame). Divergence is configured on beams, and return modes switch circularly in following order: