Current Hz of /sensing/lidar/concatenated/pointcloud is about 5Hz, which is slower than we expected and has a negative impact on subsequent processing.
Current AWSIM impliments only the top lidar.
On the other hands, awsim_sesnsor_kit_launch includes a dummy left and right lidar as input to simulate the pointcloud concatenate function.
Thus this PR shortens the timeout for subscribing the dummy lidar.
It can improve the Hz of /sensing/lidar/concatenated/pointcloud up to 10Hz.
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Signed-off-by: Shumpei Wakabayashi shumpei.wakabayashi@tier4.jp
Description
Current Hz of
/sensing/lidar/concatenated/pointcloudis about 5Hz, which is slower than we expected and has a negative impact on subsequent processing. Current AWSIM impliments only the top lidar. On the other hands,awsim_sesnsor_kit_launchincludes a dummy left and right lidar as input to simulate the pointcloud concatenate function. Thus this PR shortens the timeout for subscribing the dummy lidar. It can improve the Hz of/sensing/lidar/concatenated/pointcloudup to 10Hz.Pre-review checklist for the PR author
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