Commit 87e72cfe authored by Maurice Fallon's avatar Maurice Fallon
Browse files

some tweaks should be a command line option

parent 637b34be
......@@ -17,7 +17,7 @@ struct VelodyneAccumulatorConfig
int batch_size = 10;
double max_range = 30;
double min_range = 0.5;
std::string lidar_topic = "/velodyne/point_cloud_filtered";
std::string lidar_topic = "/point_cloud_filter/velodyne/point_cloud_filtered";
std::string inertial_frame = "/odom";
};
......
......@@ -39,7 +39,7 @@ int main(int argc, char** argv){
va_cfg.batch_size = 80; // 240 is about 1 sweep at 5RPM // 80 is about 1 sweep at 15RPM
va_cfg.min_range = 0.50; // 1.85; // remove all the short range points
va_cfg.max_range = 15.0; // we can set up to 30 meters (guaranteed range)
va_cfg.lidar_topic ="/velodyne/point_cloud_filtered";
va_cfg.lidar_topic ="/point_cloud_filter/velodyne/point_cloud_filtered";
va_cfg.inertial_frame = "/odom";
nh.getParam("registration_config_file", cl_cfg.registration_config_file);
......
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