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fix bug - 前雷达发布

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This commit is contained in:
lyq 2026-04-22 14:37:56 +08:00
parent a28814f597
commit 18b2da5450
3 changed files with 16 additions and 16 deletions
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14
src/perception/airy/rslidar_sdk-main/launch/start.py
View File

@ -21,13 +21,13 @@ def generate_launch_description():
package="rslidar_sdk",
executable="rslidar_sdk_node",
output="screen",
parameters=[{"config_path": config_rear}],
),
Node(
namespace="rviz2",
package="rviz2",
executable="rviz2",
arguments=["-d", rviz_config],
parameters=[{"config_path": config_front}],
),
# Node(
# namespace="rviz2",
# package="rviz2",
# executable="rviz2",
# arguments=["-d", rviz_config],
# ),
]
)

2
src/perception/rslidar_pointcloud_merger/config/merger_config.yaml
View File

@ -7,7 +7,7 @@ lidar_merger:
frame_id: "rslidar"
queue_size: 3
time_tolerance: 0.1
enable_debug: false
enable_debug: true
# 点云范围过滤
filter_min_x: -5.0

16
src/perception/rslidar_pointcloud_merger/src/merge_two_lidars.cpp
View File

@ -300,7 +300,7 @@ class LidarMerger : public rclcpp::Node
last_stats_time_ = now();
front_rx_ = rear_rx_ = merged_count_ = front_only_count_ = 0;
RCLCPP_INFO(get_logger(), "LidarMerger ready | time_tolerance=%.3fs | use_gpu=%s", time_tolerance_,
LOG_INFO("LidarMerger ready | time_tolerance=%.3fs | use_gpu=%s", time_tolerance_,
use_gpu_ ? "true" : "false");
}
@ -382,7 +382,7 @@ class LidarMerger : public rclcpp::Node
{
auto dt = std::chrono::duration_cast<std::chrono::microseconds>(std::chrono::steady_clock::now() - t0)
.count();
RCLCPP_DEBUG(get_logger(), "[ch%d] process %.1fms, pts=%zu", channel, dt / 1000.0, pcl_out->size());
LOG_DEBUG("[ch%d] process %.1fms, pts=%zu", channel, dt / 1000.0, pcl_out->size());
}
}
}
@ -487,7 +487,7 @@ class LidarMerger : public rclcpp::Node
auto dt = std::chrono::duration_cast<std::chrono::microseconds>(std::chrono::steady_clock::now() - t_merge)
.count();
auto e2e = (now() - front_frame.received_time).seconds();
RCLCPP_INFO(get_logger(), "[Merge#%d] timediff=%.3fs, merge=%.1fms, e2e_delay=%.3fs", merged_count_.load(),
LOG_INFO("[Merge#%d] timediff=%.3fs, merge=%.1fms, e2e_delay=%.3fs", merged_count_.load(),
min_diff, dt / 1000.0, e2e);
}
@ -511,7 +511,7 @@ class LidarMerger : public rclcpp::Node
if (enable_debug_)
{
RCLCPP_INFO(get_logger(), "[FrontOnly#%d] No match (min_diff=%.3fs), published front radar only",
LOG_INFO_THROTTLE(1000,"[FrontOnly#%d] No match (min_diff=%.3fs), published front lidar only",
front_only_count_.load(), min_diff);
}
@ -533,7 +533,7 @@ class LidarMerger : public rclcpp::Node
if (enable_debug_)
{
RCLCPP_INFO(get_logger(), "[FrontOnly#%d] Only front radar available", front_only_count_.load());
LOG_INFO_THROTTLE(1000,"[FrontOnly#%d] Only front lidar available", front_only_count_.load());
}
cf.erase(cf.begin());
@ -560,7 +560,7 @@ class LidarMerger : public rclcpp::Node
}
catch (const tf2::TransformException& e)
{
RCLCPP_WARN_THROTTLE(get_logger(), *get_clock(), 1000, "TF failed: %s", e.what());
LOG_WARN_THROTTLE(1000, "TF failed: %s", e.what());
return nullptr;
}
}
@ -850,7 +850,7 @@ class LidarMerger : public rclcpp::Node
if (fc->fields != rc->fields || fc->point_step != rc->point_step || fc->is_bigendian != rc->is_bigendian)
{
RCLCPP_ERROR(get_logger(), "Cloud format mismatch!");
LOG_ERROR("Cloud format mismatch!");
return nullptr;
}
@ -1100,7 +1100,7 @@ class LidarMerger : public rclcpp::Node
use_gpu_ = false;
return;
}
RCLCPP_INFO(get_logger(), "[GPU] Initialized, max_voxel_dim=%d", max_voxel_dim);
LOG_INFO("[GPU] Initialized, max_voxel_dim=%d", max_voxel_dim);
#endif
}