lidar_merger:
  ros__parameters:
    # 基本参数
    front_topic: "/rslidar_points/front_lidar"
    rear_topic: "/rslidar_points/rear_lidar"
    output_topic: "/rslidar_points"
    frame_id: "rslidar"
    queue_size: 3
    time_tolerance: 0.1
    enable_debug: false

    # 点云范围过滤
    filter_min_x: -5.0
    filter_max_x: 10.0
    filter_min_y: -5.0
    filter_max_y: 5.0
    filter_min_z: 0.1
    filter_max_z: 0.9

    # 体素降采样
    voxel_size: 0.1

    # 离群点去除 (SOR)
    stat_mean_k: 30
    stat_std_thresh: 1.5
    sor_method: 1
    radius_search: 0.5
    min_neighbors: 3

    # 地面分割 (PMF)
    enable_ground_segmentation: true
    ground_max_window_size: 32
    ground_slope: 1.0
    ground_initial_distance: 0.3
    ground_max_distance: 2.5

    # 栅格可视化
    grid_size: 50
    grid_range: 15.0
    enable_print: false

    # GPU
    use_gpu: true

    # 车身过滤
    filter_car: true
    car_length: 1.9
    car_width: 1.34
    car_lidar_offset_x: 0.0
    car_lidar_offset_y: 0.0

    # 扫刷过滤
    filter_brush: true
    # 右扫刷
    brush_r_min_x: 0.85
    brush_r_max_x: 1.25
    brush_r_min_y: 0.60
    brush_r_max_y: 0.96
    brush_r_min_z: 1.20
    brush_r_max_z: 1.65
    # 左扫刷
    brush_l_min_x: 0.85
    brush_l_max_x: 1.25
    brush_l_min_y: -0.96
    brush_l_max_y: -0.60
    brush_l_min_z: 1.20
    brush_l_max_z: 1.65