fix bug - 前雷达发布

src/perception/airy/rslidar_sdk-main/launch/start.py

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

src/perception/rslidar_pointcloud_merger/config/merger_config.yaml

@@ -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

src/perception/rslidar_pointcloud_merger/src/merge_two_lidars.cpp

@@ -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
     }