feat(occupancy_grid_map): add option for time keeper (autowarefoundat…

…ion#1138) * add option for time keeper Signed-off-by: a-maumau <[email protected]> * set default to false Signed-off-by: a-maumau <[email protected]> --------- Signed-off-by: a-maumau <[email protected]> Co-authored-by: Taekjin LEE <[email protected]>
SaltUhey · Sep 6, 2024 · 8f3e2bf · 8f3e2bf
1 parent 26465fc
commit 8f3e2bf
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Showing 4 changed files with 12 additions and 0 deletions.
diff --git a/...launch/config/perception/occupancy_grid_map/laserscan_based_occupancy_grid_map.param.yaml b/...launch/config/perception/occupancy_grid_map/laserscan_based_occupancy_grid_map.param.yaml
@@ -16,3 +16,6 @@
     map_length: 150.0
     map_width: 150.0
     map_resolution: 0.5
+
+    # debug parameters
+    publish_processing_time_detail: false
diff --git a/.../perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml b/.../perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml
@@ -12,6 +12,9 @@
         map_length_x: 150.0 # [m]
         map_length_y: 150.0 # [m]
 
+        # debug parameters
+        publish_processing_time_detail: false
+
       # downsample input pointcloud
       downsample_input_pointcloud: true
       downsample_voxel_size: 0.25 # [m]

diff --git a/...aunch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml b/...aunch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml
@@ -32,3 +32,6 @@
       projection_dz_threshold: 0.01 # [m] for avoiding null division
       obstacle_separation_threshold: 1.0 # [m] fill the interval between obstacles with unknown for this length
       pub_debug_grid: false
+
+    # debug parameters
+    publish_processing_time_detail: false
diff --git a/..._launch/config/perception/occupancy_grid_map/synchronized_grid_map_fusion_node.param.yaml b/..._launch/config/perception/occupancy_grid_map/synchronized_grid_map_fusion_node.param.yaml
@@ -18,3 +18,6 @@
     fusion_map_length_x: 100.0
     fusion_map_length_y: 100.0
     fusion_map_resolution: 0.5
+
+    # debug parameters
+    publish_processing_time_detail: false