feat(common_sensor_launch, pointcloud_preprocessor): change pointclou…

…d interface to synchronized pointclouds (#91) * feat: edn Signed-off-by: yoshiri <[email protected]> * fix: suppress spell-check Signed-off-by: yoshiri <[email protected]> * style(pre-commit): autofix * feat: interface change in sensing lidar pointcloud. use synchronized pointcloud as sensor interface Signed-off-by: yoshiri <[email protected]> --------- Signed-off-by: yoshiri <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
autowarefoundation · Mar 4, 2024 · bfe2260 · bfe2260
1 parent c21d67e
commit bfe2260
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Showing 2 changed files with 5 additions and 4 deletions.
diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py
@@ -202,7 +202,7 @@ def create_parameter_dict(*args):
             name="ring_outlier_filter",
             remappings=[
                 ("input", "rectified/pointcloud_ex"),
-                ("output", "pointcloud"),
+                ("output", "pointcloud_before_sync"),
             ],
             parameters=[ring_outlier_filter_parameters],
             extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],

diff --git a/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py b/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py
@@ -37,12 +37,13 @@ def launch_setup(context, *args, **kwargs):
         parameters=[
             {
                 "input_topics": [
-                    "/sensing/lidar/top/pointcloud",
-                    "/sensing/lidar/left/pointcloud",
-                    "/sensing/lidar/right/pointcloud",
+                    "/sensing/lidar/top/pointcloud_before_sync",
+                    "/sensing/lidar/left/pointcloud_before_sync",
+                    "/sensing/lidar/right/pointcloud_before_sync",
                 ],
                 "output_frame": LaunchConfiguration("base_frame"),
                 "input_twist_topic_type": "twist",
+                "publish_synchronized_pointcloud": True,
             }
         ],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],