chore: tidy up

tier4 · Apr 1, 2024 · a2cf149 · a2cf149
1 parent 07daffc
commit a2cf149
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Showing 3 changed files with 12 additions and 7 deletions.
diff --git a/nebula_common/include/nebula_common/velodyne/velodyne_common.hpp b/nebula_common/include/nebula_common/velodyne/velodyne_common.hpp
@@ -12,8 +12,10 @@ namespace nebula
 namespace drivers
 {
 
-/// @brief Invalid region on the cloud to be removed
-struct InvalidRegion {
+/// @brief Invalid region on the cloud to be removed. `start` and `end` represent angles of the
+/// region.
+struct InvalidRegion
+{
   uint16_t start;
   uint16_t end;
 };
@@ -27,7 +29,9 @@ struct VelodyneSensorConfiguration : LidarConfigurationBase
   uint16_t cloud_min_angle;
   uint16_t cloud_max_angle;
   bool invalid_point_remove;
-  std::map<int, std::vector<InvalidRegion>> invalid_regions;
+  std::map<int, std::vector<InvalidRegion>>
+    invalid_regions;  // Key holds the channel id, value holds invalid regions belong to that
+                      // channel
 };
 /// @brief Convert VelodyneSensorConfiguration to string (Overloading the << operator)
 /// @param os

diff --git a/...oders/include/nebula_decoders/nebula_decoders_velodyne/decoders/velodyne_scan_decoder.hpp b/...oders/include/nebula_decoders/nebula_decoders_velodyne/decoders/velodyne_scan_decoder.hpp
@@ -183,8 +183,9 @@ class VelodyneScanDecoder
   /// @brief Resetting overflowed point cloud buffer
   virtual void reset_overflow(double time_stamp) = 0;
 
-  /// @brief Checks if the point is invalid.
-  /// @param point The point to check.
+  /// @brief Checks if the point is inside invalid regions.
+  /// @param channel Channel id of the point.
+  /// @param azimuth Azimuth angle of the point.
   /// @return True if the point is invalid, false otherwise.
   bool check_invalid_point(const int & channel, const uint16_t & azimuth)
   {

diff --git a/nebula_ros/launch/velodyne_launch_all_hw.xml b/nebula_ros/launch/velodyne_launch_all_hw.xml
@@ -19,9 +19,9 @@
 
     <arg name="setup_sensor" default="True" description="Enable sensor setup on hw-driver."/>
 
-    <arg name="invalid_point_remove" default="true"/>
+    <arg name="invalid_point_remove" default="false"/>
     <arg name="invalid_regions"
-         default="'[[12, 31110, 31495], [0, 3500, 6900], [1, 3400, 6500], [2, 3200, 4600], [3, 3200, 4600], [4, 3000, 4300], [5, 2950, 4050], [6, 3100, 3800], [0, 26000, 32200], [1, 26000, 32200], [2, 26000, 31000], [3, 26000, 30000], [4, 26000, 28000]]'"/>
+         default="'[[0, 3500, 6900], [1, 3400, 6500], [2, 3200, 4600], [3, 3200, 4600]]'"/>
 
     <node pkg="nebula_ros" exec="velodyne_driver_ros_wrapper_node"
           name="velodyne_cloud" output="screen">