Mark Jin

可以，在MakeFile里面把pcl版本改成你的版本就可以

@brkay54 @TakaHoribe @rej55 I checked the code, there are 3 relevant modules, which are trajectory_follower, vehicle_cmd_gate, default_ad_api; 1. If the required steering angle is too large, the steering angle cannot...

@rej55 Thanks, Fujiyama. Actually, I have modified the code in my way and tested on real vehicle for several days. I have not found any issue yet.

@shaoniandujianyiqingqiu yes, the EKF localizer considers that the vehicle has no slip angle(beta) at base_link, which mean vy=0. The reference point(base_link) of 4ws model is at the center of the...

add support for robosense LiDAR pointcloud which contains XYZIRT data.

I've already tested with a robosense Helios 16P LiDAR, 6-axis IMU inside CHC CGI-430/410 combined RTK-INS.

@juliangaal For now, I assume the position of GNSS is exactly at the position of LiDAR frame. I should added a transform between LiDAR and GPS

@zhh2005757 the GNSS odometer is only the node that converts LLH coordinates to cartesian coordinates.

I am sorry, let me explain. The bandwidth with was the bandwidth of pointcloud topic. I have multiple LiDARs OS LiDARs in this system, when there was only one LiDAR,...

@SteveMacenski These LiDARs have different IP address. Have you tried multiple LiDARs?