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osrf / mbzirc

Simulator for the MBZIRC Maritime Grand Challenge
Apache License 2.0
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Can we configure the parameters of mbzirc_3d_lidar? #189

Closed LvJohny closed 2 years ago

LvJohny commented 2 years ago

Hi, we want to change the 'samples', 'min_angle' and 'max_angle' of mbzirc_3d_lidar, is that allowed? In detail, we change the horizontal resolution to 0.1 degree and FOV to 90 degree, and change vertical scan to 128 and FOV to 40 degree. The following are the corresponding changes in the sdf file.

  <horizontal>
      <samples>900</samples>
      <resolution>1</resolution>
      <min_angle>-0.78539</min_angle>
      <max_angle>0.78539</max_angle>
  </horizontal>
  <vertical>
      <samples>128</samples>
      <resolution>1</resolution>
      <min_angle>-0.3490555</min_angle>
      <max_angle>0.3490555</max_angle>
  </vertical>
iche033 commented 2 years ago

hi, unfortunately we're not able to support configuring these params unless specifically requested by the organizers. So as of now, such changes are not allowed.