update frame_start_azimuth

hzb · hzb · commit b011d2d9330b · 2023-07-21T18:38:34.000+08:00
diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
diff --git a/.vscode/settings.json b/.vscode/settings.json
diff --git a/config/config.yaml b/config/config.yaml
@@ -8,7 +8,7 @@ lidar:
       correction_file_path: "Your correction file path" #The path of correction file
       firetimes_path: "Your firetime file path" #The path of firetimes file
       source_type: 1                   #The type of data source, 1: real-time lidar connection, 2: pcap, 3: packet rosbag    
-      frame_azimuth: 200               #Frame azimuth for Pandar128, range from 1 to 359, set it less than 0 if you 
+      frame_start_azimuth: 200               #Frame azimuth for Pandar128, range from 1 to 359, set it less than 0 if you 
                                        #do not want to use it.
       #transform param
       x: 0
diff --git a/src/driver/HesaiLidar_SDK_2.0 b/src/driver/HesaiLidar_SDK_2.0
@@ -1 +1 @@
-Subproject commit 339a267a41c2f68ef25e7b3769079e07ad8d8618
+Subproject commit 5c816a7dde91dfd65319d52c29d0baf5e52618a6
diff --git a/src/manager/source_driver_ros1.hpp b/src/manager/source_driver_ros1.hpp
@@ -107,7 +107,7 @@ inline void SourceDriver::Init(const YAML::Node& config)
   YamlRead<float>(driver_config, "pitch", driver_param.decoder_param.transform_param.pitch, 0);
   YamlRead<float>(driver_config, "yaw", driver_param.decoder_param.transform_param.yaw, 0);
   YamlRead<std::string>(driver_config, "device_ip_address", driver_param.input_param.device_ip_address, "192.168.1.201");
-  YamlRead<float>(driver_config, "frame_azimuth", driver_param.decoder_param.frame_azimuth, -1);
+  YamlRead<float>(driver_config, "frame_start_azimuth", driver_param.decoder_param.frame_start_azimuth, -1);
   
   int source_type = 0;
   YamlRead<int>(driver_config, "source_type", source_type, 0);
diff --git a/src/manager/source_driver_ros2.hpp b/src/manager/source_driver_ros2.hpp
@@ -105,7 +105,7 @@ inline void SourceDriver::Init(const YAML::Node& config)
   YamlRead<float>(driver_config, "pitch", driver_param.decoder_param.transform_param.pitch, 0);
   YamlRead<float>(driver_config, "yaw", driver_param.decoder_param.transform_param.yaw, 0);
   YamlRead<std::string>(driver_config, "device_ip_address", driver_param.input_param.device_ip_address, "192.168.1.201");
-  YamlRead<float>(driver_config, "frame_azimuth", driver_param.decoder_param.frame_azimuth, -1);
+  YamlRead<float>(driver_config, "frame_start_azimuth", driver_param.decoder_param.frame_start_azimuth, -1);
 
   int source_type = 0;
   YamlRead<int>(driver_config, "source_type", source_type, 0);
