From 35e44144f22e193050acc3ec040214914a8f791f Mon Sep 17 00:00:00 2001 From: ismetatabay Date: Mon, 2 Sep 2024 15:28:53 +0300 Subject: [PATCH 1/2] add example robosense Bpearl launch Signed-off-by: ismetatabay --- .../creating-sensor-model/index.md | 28 ++++++++++++++----- 1 file changed, 21 insertions(+), 7 deletions(-) diff --git a/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/creating-sensor-model/index.md b/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/creating-sensor-model/index.md index e0af1c400f3..c635fef1c77 100644 --- a/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/creating-sensor-model/index.md +++ b/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/creating-sensor-model/index.md @@ -474,11 +474,25 @@ but you need to update `sensor_id`, `data_port`, `sensor_frame` and other necess Please add similar launch groups according to your sensor architecture. For example, we use Robosense Lidars for our `tutorial_vehicle`, -so the lidar group for Robosense Lidar should be like this structure: +so the lidar group for Robosense Lidar (i.e., for Bpearl) should be like this structure: -!!! warning - - under construction +```xml + + + + + + + + + + + + + + + +``` If you are using a Hesai lidar (i.e. PandarQT64, please check [nebula](https://github.com/tier4/nebula) driver page for supported sensors), @@ -517,10 +531,10 @@ you can modify the pipeline components like this way: nodes.append( ComposableNode( - package="pointcloud_preprocessor", -- plugin="pointcloud_preprocessor::RingOutlierFilterComponent", + package="autoware_pointcloud_preprocessor", +- plugin="autoware::pointcloud_preprocessor::RingOutlierFilterComponent", - name="ring_outlier_filter", -+ plugin="pointcloud_preprocessor::DualReturnOutlierFilterComponent", ++ plugin="autoware::pointcloud_preprocessor::DualReturnOutlierFilterComponent", + name="dual_return_outlier_filter", remappings=[ ("input", "rectified/pointcloud_ex"), From e0d2b4f4505a4faa65ea1aba0998cac31d0eb37a Mon Sep 17 00:00:00 2001 From: ismetatabay Date: Tue, 3 Sep 2024 18:36:24 +0300 Subject: [PATCH 2/2] fix sensor model name Signed-off-by: ismetatabay --- .../creating-sensor-model/index.md | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/creating-sensor-model/index.md b/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/creating-sensor-model/index.md index c635fef1c77..90afb306dbf 100644 --- a/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/creating-sensor-model/index.md +++ b/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/creating-sensor-model/index.md @@ -481,11 +481,11 @@ so the lidar group for Robosense Lidar (i.e., for Bpearl) should be like this st - - + + - - + +