From fa8907ca6a1234677390b3b596151455f7abad91 Mon Sep 17 00:00:00 2001 From: lyq Date: Wed, 25 Mar 2026 13:51:49 +0800 Subject: [PATCH] 0325 --- gps_load_now.txt | 1594 ++++++++++++++++- routes/gps_load_1774320817763.txt | 1544 ++++++++++++++++ routes/gps_load_1774322538612.txt | 280 +++ .../mqtt_report/src/mqtt/mqtt_reporter.cpp | 2 +- .../config/merger_config.yaml | 6 +- 5 files changed, 3347 insertions(+), 79 deletions(-) create mode 100644 routes/gps_load_1774320817763.txt create mode 100644 routes/gps_load_1774322538612.txt diff --git a/gps_load_now.txt b/gps_load_now.txt index dacebe2..b308da6 100644 --- a/gps_load_now.txt +++ b/gps_load_now.txt @@ -1,100 +1,1544 @@ -32.0310917570 -120.91525467400 -349.971985 +32.0311498280 +120.91525975600 +354.399994 0.000000 -32.0311007180 -120.91525281000 -347.497009 +32.0311588610 +120.91525851300 +348.959015 0.000000 -32.0311098440 -120.91525041500 -345.182007 +32.0311680050 +120.91525634100 +350.554993 0.000000 -32.0311188070 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+120.91509594500 +203.837006 +0.000000 +32.0310229690 +120.91509168000 +197.709000 +0.000000 +32.0310134050 +120.91508872400 +191.673996 +0.000000 +32.0310042620 +120.91508714300 +185.076996 +0.000000 +32.0309947920 +120.91508655800 +179.298004 +0.000000 +32.0309850750 +120.91508647600 +180.647003 +0.000000 +32.0309758280 +120.91508663700 +178.931000 +0.000000 +32.0309661890 +120.91508719100 +174.518005 +0.000000 +32.0309568230 +120.91508843600 +174.871002 +0.000000 diff --git a/src/communication/mqtt_report/src/mqtt/mqtt_reporter.cpp b/src/communication/mqtt_report/src/mqtt/mqtt_reporter.cpp index efe947b..bf4040d 100644 --- a/src/communication/mqtt_report/src/mqtt/mqtt_reporter.cpp +++ b/src/communication/mqtt_report/src/mqtt/mqtt_reporter.cpp @@ -71,7 +71,7 @@ void MqttReporter::publish_gps() j["course"] = gps.course; j["mode"] = gps.mode; j["gps_timestamp"] = gps.timestamp; - j["report_timestamp"] = getCurrentTimestampMs(); + j["timestamp"] = getCurrentTimestampMs(); mqtt_.publish(make_topic(config_.gps_topic_template, vid), j.dump(), 1); } diff --git a/src/perception/rslidar_pointcloud_merger/config/merger_config.yaml b/src/perception/rslidar_pointcloud_merger/config/merger_config.yaml index 80f1ce8..ff69f9b 100644 --- a/src/perception/rslidar_pointcloud_merger/config/merger_config.yaml +++ b/src/perception/rslidar_pointcloud_merger/config/merger_config.yaml @@ -14,8 +14,8 @@ lidar_merger: filter_max_x: 10.0 filter_min_y: -5.0 filter_max_y: 5.0 - filter_min_z: 0.0 - filter_max_z: 1.0 + filter_min_z: 0.1 + filter_max_z: 0.9 # 体素降采样 voxel_size: 0.1 @@ -44,7 +44,7 @@ lidar_merger: # 车身过滤 filter_car: true - car_length: 1.8 + car_length: 1.9 car_width: 1.34 car_lidar_offset_x: 0.0 car_lidar_offset_y: 0.0