hesai tests. set default min max range depending on model

Signed-off-by: amc-nu <[email protected]>
tier4 · Feb 28, 2024 · 4a03713 · 4a03713
1 parent 340961b
commit 4a03713
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Showing 2 changed files with 30 additions and 2 deletions.
diff --git a/nebula_tests/hesai/hesai_ros_decoder_test.cpp b/nebula_tests/hesai/hesai_ros_decoder_test.cpp
@@ -236,8 +236,7 @@ Status HesaiRosDecoderTest::GetParameters(
     return Status::INVALID_ECHO_MODE;
   }
   if (
-    sensor_configuration.frame_id.empty() || sensor_configuration.scan_phase > 360 ||
-    sensor_configuration.min_range != 0.3 || sensor_configuration.max_range != 300.) {
+    sensor_configuration.frame_id.empty() || sensor_configuration.scan_phase > 360) {
     return Status::SENSOR_CONFIG_ERROR;
   }
   if (calibration_configuration.calibration_file.empty()) {

diff --git a/nebula_tests/hesai/hesai_ros_decoder_test_main.cpp b/nebula_tests/hesai/hesai_ros_decoder_test_main.cpp
@@ -24,37 +24,66 @@ const nebula::ros::HesaiRosDecoderTestParams TEST_CONFIGS[6] = {
     "Dual",
     "Pandar40P.csv",
     "40p/1673400149412331409",
+    "",
+    "hesai",
+    0,
+    0.3f,
+    200.f
   },
   {
     "Pandar64",
     "Dual",
     "Pandar64.csv",
     "64/1673403880599376836",
+    "",
+    "hesai",
+    0,
+    0.3f,
+    200.f
   },
   {
     "PandarAT128",
     "LastStrongest",
     "PandarAT128.csv",
     "at128/1679653308406038376",
     "PandarAT128.dat",
+    "hesai",
+    0,
+    1.f,
+    180.f
   },
   {
     "PandarQT64",
     "Dual",
     "PandarQT64.csv",
     "qt64/1673401195788312575",
+    "",
+    "hesai",
+    0,
+    0.1f,
+    60.f
   },
   {
     "PandarXT32",
     "Dual",
     "PandarXT32.csv",
     "xt32/1673400677802009732",
+    "",
+    "hesai",
+    0,
+    0.05f,
+    120.f
   },
   {
     "PandarXT32M",
     "LastStrongest",
     "PandarXT32M.csv",
     "xt32m/1660893203042895158",
+    "",
+    "hesai",
+    0,
+    0.5f,
+    300.f
   }};
 
 // Compares geometrical output of decoder against pre-recorded reference pointcloud.