add range parameter

Signed-off-by: Yukihiro Saito <[email protected]>
tier4 · Feb 22, 2024 · 9b82192 · 9b82192
1 parent 76526ca
commit 9b82192
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Showing 2 changed files with 22 additions and 1 deletion.
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp
@@ -102,7 +102,10 @@ class HesaiDecoder : public HesaiScanDecoder
 
         auto distance = getDistance(unit);
 
-        if (distance < SensorT::MIN_RANGE || distance > SensorT::MAX_RANGE) {
+        if (
+          distance < SensorT::MIN_RANGE || SensorT::MAX_RANGE < distance ||
+          distance < sensor_configuration_->min_range ||
+          sensor_configuration_->max_range < distance) {
           continue;
         }
 

diff --git a/nebula_ros/src/hesai/hesai_decoder_ros_wrapper.cpp b/nebula_ros/src/hesai/hesai_decoder_ros_wrapper.cpp
@@ -220,6 +220,24 @@ Status HesaiDriverRosWrapper::GetParameters(
     calibration_configuration.calibration_file =
       this->get_parameter("calibration_file").as_string();
   }
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
+    descriptor.read_only = false;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "";
+    this->declare_parameter<double>("min_range", 0.3, descriptor);
+    sensor_configuration.min_range = this->get_parameter("min_range").as_double();
+  }
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
+    descriptor.read_only = false;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "";
+    this->declare_parameter<double>("max_range", 300., descriptor);
+    sensor_configuration.max_range = this->get_parameter("max_range").as_double();
+  }
   if (sensor_configuration.sensor_model == drivers::SensorModel::HESAI_PANDARAT128) {
     rcl_interfaces::msg::ParameterDescriptor descriptor;
     descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;