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fix: change_perception_reproducer_parameter #57

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merged 4 commits into from
Jun 21, 2024
Merged

fix: change_perception_reproducer_parameter #57

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3926869
change reproducer cool down to 80 s
xtk8532704 Jun 19, 2024
7d9309e
change default parameter.
xtk8532704 Jun 19, 2024
a2d970e
Merge branch 'main' into fix/change_perception_reproducer_parameter
xtk8532704 Jun 20, 2024
0b45447
Merge branch 'main' into fix/change_perception_reproducer_parameter
xtk8532704 Jun 21, 2024
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10 changes: 5 additions & 5 deletions planning/planning_debug_tools/scripts/perception_replayer/perception_reproducer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -65,7 +65,7 @@ def __init__(self, args):
time_diffs.append(time_diff)
prev_stamp = stamp

average_ego_odom_interval = 0.1 # sum(time_diffs) / len(time_diffs)
average_ego_odom_interval = sum(time_diffs) / len(time_diffs)
self.timer = self.create_timer(average_ego_odom_interval, self.on_timer)

# kill perception process to avoid a conflict of the perception topics
Expand Down Expand Up @@ -258,16 +258,16 @@ def find_nearby_ego_odom_indies(self, ego_poses: list, search_radius: float):
parser.add_argument(
"-r",
"--search-radius",
help="the search radius for searching rosbag's ego odom messages around the nearest ego odom pose (default is 2 meters), if the search radius is set to 0, it will always publish the closest message, just as the old reproducer did.",
help="the search radius for searching rosbag's ego odom messages around the nearest ego odom pose (default is 1.5 meters), if the search radius is set to 0, it will always publish the closest message, just as the old reproducer did.",
type=float,
default=2.0,
default=1.5,
)
parser.add_argument(
"-c",
"--reproduce-cool-down",
help="The cool down time for republishing published messages (default is 15.0 seconds)",
help="The cool down time for republishing published messages (default is 80.0 seconds)",
type=float,
default=15.0,
default=80.0,
)
args = parser.parse_args()

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