Feature/c1t sllidar driver #318
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| ros__parameters: | ||
| subsystem_namespace: /hardware_interface | ||
| required_subsystem_nodes: [''] | ||
| unmanaged_required_nodes: [''] |
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I see that in other configs the driver wrappers in localization get put into excluded, does this also apply here?
| sensor_nodes: | ||
| - /hardware_interface/sllidar_ros2_driver_wrapper | ||
| - /hardware_interface/bno055_ros2_driver_wrapper | ||
| sensor_fault_map: ' |
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any info on what this is and if it applies going from a 3d lidar config to a 2d one?
| # Acceleration limit | ||
| # Value type: Desired | ||
| # Units: m/s^2 | ||
| vehicle_acceleration_limit: 2.0 |
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all the accel limits and jerk limits could probably be reduced from full-scale. Couldn't say a good value but maybe in the <1m/s2 range?
| - /environment/detection/object_tracker/objects_markers | ||
| - /environment/detection/objects | ||
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| exclude_can: false |
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assuming that the CAN interface should always be excluded on C1T
| - /environment/detection/object_tracker/objects_markers | ||
| - /environment/detection/objects | ||
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| exclude_camera: false |
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should this be true since there's no camera?
| //Private variables | ||
| var ip = '192.168.0.100'; | ||
| var refresh_interval = 30; //30 seconds | ||
| var ros_connect_wait = 5000; //5 miliseconds to wait for platform to launch and ros to connect. |
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if this is deployed to a split PC system this value may need to be increased to account for latency
| <arg name="cuda" value="true"/> | ||
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| <!-- Set the Frame of the Lidar(s) --> | ||
| <arg name="combined_lidar_frame" value="velodyne"/> |
| <arg name="launch_drivers" default="false"/> | ||
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| <!-- Rosbag Flag --> | ||
| <arg name="use_rosbag" default="true"/> |
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I know we have changed some things with rosbags in ROS2 and this seems to have been removed from the other carma configs, may be unnecessary
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Doesn't include the vector map declaration, I assume we will need this
| network_mode: host | ||
| container_name: web-ui | ||
| environment: | ||
| - ROS_IP=192.168.88.10 |
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needs to match the rest of the ROS_IPs
PR Details
Description
Adding c1t carma-config, with ssc and lidar drivers. DSRC is still to be pulled in.
Related Issue
Motivation and Context
How Has This Been Tested?
Types of changes
Checklist:
CARMA Contributing Guide