Johnliu/rtx lidar update#351
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…e parameter to vdb model to avoid self-detection.
…sors Agent-Logs-Url: https://github.com/castacks/AirStack/sessions/7ce7609a-a7f3-414d-9d42-0c9999d0459f Co-authored-by: andrewjong <8121216+andrewjong@users.noreply.github.com>
Agent-Logs-Url: https://github.com/castacks/AirStack/sessions/bdf00f6f-1d9f-4597-bf57-b96f99421646 Co-authored-by: andrewjong <8121216+andrewjong@users.noreply.github.com>
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| add_rtx_lidar_subgraph( | ||
| parent_graph_handle=graph_handle, | ||
| drone_prim="/World/base_link", | ||
| robot_name="robot_1", | ||
| lidar_name="OS1_REV6_128_10hz___512_resolution", | ||
| lidar_config="ouster_os1", |
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| # Buffer-backed structured array (skip_nans=True); Nx3 without Python tuples. | ||
| pts_struct = point_cloud2.read_points( | ||
| msg, field_names=('x', 'y', 'z'), skip_nans=True | ||
| ) | ||
| if pts_struct.size == 0: | ||
| self._pub.publish(point_cloud2.create_cloud(msg.header, self._fields, [])) |
Agent-Logs-Url: https://github.com/castacks/AirStack/sessions/2d5718ac-20e3-4f10-a12e-05d601cf000c Co-authored-by: JohnYanxinLiu <63010779+JohnYanxinLiu@users.noreply.github.com>
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What features did you add and/or bugs did you address?
Updates lidar api to new rtx lidar. Adds lidar filtering node
https://youtu.be/RyuO9QsAT60
How did you implement it?
The lidar filtering node subscribes to the
_rawlidar topic from the simulationHow do you run and use it?
What commands and button presses do you use to manually launch the stack to use your new feature?
Just
airstack uppressingtakeoffand excuting the exploration node.Write a detailed procedure with EXACT BASH COMMANDS so that another maintainer can replicate and understand the benefits of your feature, and reproduce the videos and images you added above.
Testing with PyTest
What pytests did you add to ensure the feature is reliable and robust? What metrics are used?
What's the exact command to run the pytests that test your feature? i.e.
airstack test -m ...What are the expected results of the tests? What should a maintainer look at to understand whether the test succeeded?
Documentation
Was mkdocs.yml updated? (y/n)
Do the docs have sufficient scope such that a newcomer can easily reproduce and use your feature?
Is there sufficient visual media?
Versioning
.envfile according to semantic versioning?