Open mantkiew opened 1 year ago
While I think this could be useful, having it enabled by default is definitely not desirable. Please add a parameter to enable the feature, have the parameter default to False
, and wrap the creation of the markers in an if
.
It is useful to be able to see the lidar beams in RViz. This PR adds publishing of RViz markers for all lidar beams according to the lidar's calibration parameters and range. We have used this functionality to validate dual lidar design on University of Waterloo's UW Moose with VLS-128 on top and VLP32-C on 10-degree angle:
Details:
/..._nodelet_manager/lidar_beams
topic in the frame given byframe_id
passed via thetarget_frame
parameter (that makes sense becausetarget_frame
is set to the frame of the incoming packets, which isframe_id
from the driver). This allows for having multiple lidars of the same model in different frames.VLS128/12
max_range
. We ignore therot_correction
and only use thevert_correction
so that all beams are on the same surfaceThe example images were produced using the following commands