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feat(aeva): add launch and config files, fix cspell
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| /**: | ||
| ros__parameters: | ||
| sensor_ip: 192.168.2.201 | ||
| launch_hw: true | ||
| frame_id: aeva | ||
| sensor_model: Aeries2 | ||
| setup_sensor: true | ||
| diag_span: 1000 | ||
| dithering_enable_ego_speed: 40.0 | ||
| dithering_pattern_option: dithering_pattern_1 | ||
| ele_offset_rad: 0.0 | ||
| elevation_auto_adjustment: false | ||
| enable_frame_dithering: false | ||
| enable_frame_sync: true | ||
| flip_pattern_vertically: false | ||
| frame_sync_offset_in_ms: 999 | ||
| frame_sync_type: nearest_second | ||
| frame_synchronization_on_rising_edge: true | ||
| hfov_adjustment_deg: 0.0 | ||
| hfov_rotation_deg: 0.0 | ||
| highlight_ROI: false | ||
| horizontal_fov_degrees: 110Degrees | ||
| roi_az_offset_rad: 0.0 | ||
| vertical_pattern: 40-14.4-ROI |
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| <?xml version="1.0"?> | ||
| <launch> | ||
| <arg name="sensor_model" description="Aeries2"/> | ||
| <arg name="config_file" default="$(find-pkg-share nebula_ros)/config/lidar/aeva/$(var sensor_model).param.yaml"/> | ||
|
|
||
| <node pkg="nebula_ros" exec="aeva_ros_wrapper_node" name="aeva_ros_wrapper_node" output="screen"> | ||
| <param from="$(var config_file)" allow_substs="true"/> | ||
| </node> | ||
|
|
||
| </launch> |
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| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "LiDAR Aeva Aeries II parameters.", | ||
| "type": "object", | ||
| "definitions": { | ||
| "Aeries2": { | ||
| "type": "object", | ||
| "properties": { | ||
| "sensor_ip": { | ||
| "$ref": "sub/communication.json#/definitions/sensor_ip" | ||
| }, | ||
| "launch_hw": { | ||
| "$ref": "sub/hardware.json#/definitions/launch_hw" | ||
| }, | ||
| "frame_id": { | ||
| "$ref": "sub/topic.json#/definitions/frame_id" | ||
| }, | ||
| "sensor_model": { | ||
| "$ref": "sub/lidar_aeva.json#/definitions/sensor_model" | ||
| }, | ||
| "setup_sensor": { | ||
| "$ref": "sub/hardware.json#/definitions/setup_sensor" | ||
| }, | ||
| "diag_span": { | ||
| "$ref": "sub/topic.json#/definitions/diag_span" | ||
| }, | ||
| "dithering_enable_ego_speed": { | ||
| "type": "number", | ||
| "readOnly": false, | ||
| "description": "The ego speed in m/s from which pointcloud dithering (different patterns per frame) is enabled.", | ||
| "max": 200.0, | ||
| "min": 0.0, | ||
| "default": 40.0 | ||
| }, | ||
| "dithering_pattern_option": { | ||
| "type": "string", | ||
| "readOnly": false, | ||
| "description": "The dithering pattern to use if enabled.", | ||
| "enum": [ | ||
| "dithering_pattern_1", | ||
| "dithering_pattern_2" | ||
| ], | ||
| "default": "dithering_pattern_1" | ||
| }, | ||
| "ele_offset_rad": { | ||
| "type": "number", | ||
| "readOnly": false, | ||
| "description": "Elevation offset used to align ROI to ground level at a certain distance.", | ||
| "max": 0.35, | ||
| "min": -0.35, | ||
| "default": 0.0 | ||
| }, | ||
| "elevation_auto_adjustment": { | ||
| "type": "boolean", | ||
| "readOnly": false, | ||
| "description": "Adjusts elevation to a long-range setting when the car is going sufficiently fast.", | ||
| "default": false | ||
| }, | ||
| "enable_frame_dithering": { | ||
| "type": "boolean", | ||
| "readOnly": false, | ||
| "description": "Whether dithering is enabled.", | ||
| "default": false | ||
| }, | ||
| "enable_frame_sync": { | ||
| "type": "boolean", | ||
| "readOnly": false, | ||
| "description": "Whether to sync pointcloud frame output to a given sub-second offset.", | ||
| "default": true | ||
| }, | ||
| "flip_pattern_vertically": { | ||
| "type": "boolean", | ||
| "readOnly": false, | ||
| "description": "Whether to flip the scan pattern vertically.", | ||
| "default": false | ||
| }, | ||
| "frame_sync_offset_in_ms": { | ||
| "type": "integer", | ||
| "readOnly": false, | ||
| "description": "The sub-second offset to sync pointcloud frame starts to. 0 for top-of-second alignment. In practice, 999 achieves results closer to top-of-second", | ||
| "min": 0, | ||
| "max": 999, | ||
| "default": 999 | ||
| }, | ||
| "frame_sync_type": { | ||
| "type": "string", | ||
| "readOnly": false, | ||
| "description": "Whether to start sync at an absolute timestamp in the future, or from the nearest second.", | ||
| "enum": [ | ||
| "absolute_time", | ||
| "nearest_second" | ||
| ], | ||
| "default": "nearest_second" | ||
| }, | ||
| "frame_synchronization_on_rising_edge": { | ||
| "type": "boolean", | ||
| "readOnly": false, | ||
| "description": "Contact vendor for info.", | ||
| "default": true | ||
| }, | ||
| "hfov_adjustment_deg": { | ||
| "type": "number", | ||
| "readOnly": false, | ||
| "description": "The number of degrees to expend or shrink the horizontal field of view by.", | ||
| "max": 100.0, | ||
| "min": -100.0, | ||
| "default": 0.0 | ||
| }, | ||
| "hfov_rotation_deg": { | ||
| "type": "number", | ||
| "readOnly": false, | ||
| "description": "Number of degrees to shift the horizontal field of view to the left (-) or right (+).", | ||
| "max": 100.0, | ||
| "min": -100.0, | ||
| "default": 0.0 | ||
| }, | ||
| "highlight_ROI": { | ||
| "type": "boolean", | ||
| "readOnly": false, | ||
| "description": "A debug option to visually highlight points in the configured region of interest.", | ||
| "default": false | ||
| }, | ||
| "horizontal_fov_degrees": { | ||
| "type": "string", | ||
| "readOnly": false, | ||
| "description": "The horizontal field of view of the sensor. Larger FoVs use more power.", | ||
| "enum": [ | ||
| "110Degrees", | ||
| "120Degrees" | ||
| ], | ||
| "default": "110Degrees" | ||
| }, | ||
| "roi_az_offset_rad": { | ||
| "type": "number", | ||
| "readOnly": false, | ||
| "description": "Shift the ROI (if configured) to the left (-) or right (+).", | ||
| "max": 0.2094, | ||
| "min": -0.2094, | ||
| "default": 0.0 | ||
| }, | ||
| "vertical_pattern": { | ||
| "type": "string", | ||
| "readOnly": false, | ||
| "description": "The scan pattern to use. Refer to the user manual for details.", | ||
| "enum": [ | ||
| "40-12-ROI-1m", | ||
| "40-14.4-ROI", | ||
| "40-14.4-ROI-1m", | ||
| "40-14.4-ROI-EGL", | ||
| "40-28.8-ROI", | ||
| "64-14.4-ROI-1m", | ||
| "64-16-ROI", | ||
| "64-16-ROI-1m", | ||
| "64-19.2-ROI-1m", | ||
| "64-19.2-ROI-2-EGL", | ||
| "64-28.8-ROI", | ||
| "80-19.2-Uniform", | ||
| "80-24-ROI-2", | ||
| "cal_192_384-19.2-Uniform-5f" | ||
| ], | ||
| "default": "40-14.4-ROI" | ||
| } | ||
| }, | ||
| "required": [ | ||
| "sensor_ip", | ||
| "launch_hw", | ||
| "frame_id", | ||
| "sensor_model", | ||
| "setup_sensor", | ||
| "diag_span", | ||
| "dithering_enable_ego_speed", | ||
| "dithering_pattern_option", | ||
| "ele_offset_rad", | ||
| "elevation_auto_adjustment", | ||
| "enable_frame_dithering", | ||
| "enable_frame_sync", | ||
| "flip_pattern_vertically", | ||
| "frame_sync_offset_in_ms", | ||
| "frame_sync_type", | ||
| "frame_synchronization_on_rising_edge", | ||
| "hfov_adjustment_deg", | ||
| "hfov_rotation_deg", | ||
| "highlight_ROI", | ||
| "horizontal_fov_degrees", | ||
| "roi_az_offset_rad", | ||
| "vertical_pattern" | ||
| ], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "properties": { | ||
| "/**": { | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "$ref": "#/definitions/Aeries2" | ||
| } | ||
| }, | ||
| "required": [ | ||
| "ros__parameters" | ||
| ], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "required": [ | ||
| "/**" | ||
| ], | ||
| "additionalProperties": false | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,13 @@ | ||
| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "Lidar Aeva parameters.", | ||
| "type": "object", | ||
| "definitions": { | ||
| "sensor_model": { | ||
| "$ref": "hardware.json#/definitions/sensor_model", | ||
| "enum": [ | ||
| "Aeries2" | ||
| ] | ||
| } | ||
| } | ||
| } |