0325

routes/gps_load_1774322538612.txt

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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);
 }

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_min_z: 0.1
-    filter_max_z: 1.0
+    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