feature: edge auto (#190)

* chore: adapted to the new way of using lidartag Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: rename decompressed_topic name to avoid name conflict on live Signed-off-by: Manato HIRABAYASHI <[email protected]> * feat: introduce `choice` for bool options Signed-off-by: Manato HIRABAYASHI <[email protected]> * fix: init tf tree visualization (#188) * fix: init tf tree visualization Signed-off-by: vividf <[email protected]> * chore: fix error Signed-off-by: vividf <[email protected]> --------- Signed-off-by: vividf <[email protected]> * fix(intrinsic_camera_calibrator): fixed dot board detector (#189) fix: forgot to add a fix to the dot board detector Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> --------- Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> Signed-off-by: Manato HIRABAYASHI <[email protected]> Signed-off-by: vividf <[email protected]> Co-authored-by: Kenzo Lobos-Tsunekawa <[email protected]> Co-authored-by: Yi-Hsiang Fang (Vivid) <[email protected]>
tier4 · Sep 24, 2024 · 7f48b71 · 7f48b71
1 parent 159d923
commit 7f48b71
Showing 1 changed file with 10 additions and 2 deletions.
diff --git a/sensor_calibration_manager/launch/edge_auto/tag_based_pnp_calibrator.launch.xml b/sensor_calibration_manager/launch/edge_auto/tag_based_pnp_calibrator.launch.xml
@@ -9,12 +9,19 @@
     <choice value="pandar_xt32"/>
   </arg>
 
-  <arg name="view_only_ui" default="true" description="By default we use a minimal UI"/>
+  <arg name="view_only_ui" default="true" description="By default we use a minimal UI">
+    <choice value="true"/>
+    <choice value="false"/>
+  </arg>
+  <arg name="use_receive_time" default="false" description="Use receive time instead of topic timestamps to make corresponding pairs">
+    <choice value="false"/>
+    <choice value="true"/>
+  </arg>
   <arg name="calibration_pairs" default="9" description="Number of lidar-image pairs for the calibration to converge"/>
   <arg name="calibration_pairs_min_distance" default="1.5" description="Minimum allowed between a new detection and current pairs"/>
 
   <!-- we do not use the standard image_raw name to avoid naming conflicts -->
-  <let name="image_decompressed_topic" value="/sensing/camera/$(var camera_name)/image_raw"/>
+  <let name="image_decompressed_topic" value="/sensing/camera/$(var camera_name)/image_raw/decompressed"/>
   <let name="image_compressed_topic" value="/sensing/camera/$(var camera_name)/image_raw/compressed"/>
 
   <let name="camera_info_topic" value="/sensing/camera/$(var camera_name)/camera_info"/>
@@ -50,6 +57,7 @@
       <arg name="use_rectified_image" value="$(var use_rectified_image)"/>
       <arg name="calibration_pairs" value="$(var calibration_pairs)"/>
       <arg name="calibration_pairs_min_distance" value="$(var calibration_pairs_min_distance)"/>
+      <arg name="use_receive_time" value="$(var use_receive_time)"/>
     </include>
 
     <!-- interactive calibrator -->