chore(aip_x2_gen2_launch): set QT128 min_range 0.08 #395
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kotaro-hihara
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kotaro-hihara
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kotaro-hihara
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QT128の検出範囲は0.05-50.0mだが、min_range=0.05にそのまま設定するとLiDAR表面を紙などで覆っても点群を出せるためblockageとして判定できない。
LiDARハウジングごと覆った場合でもblockage_diagをERRORにできるような調整としてmin_range=0.08とする。
植栽接近などで不要動作が起きる場合は値を下げる。(最低でも0.06にしないとLiDAR表面のblockageも検知できない)
LSIM,ベンチで確認
調整検討