add additional parameters to launch files

[gabor-meszaros]

I wanted to add additional parameters to launch files. Maybe you also find it useful. I skipped the npackets parameter because it does not have meaningful default value.

[bricerebsamen]

I don't get it: I couldn't find any trace of those parameters in the C++ code. Aren't they used? Also what's their meaning?

[gabor-meszaros]

Hi Brice!

You will find their usage in the code if you search "private_nh.param" in input.cc, rawdata.cc or driver.cc.

Their meaning are:

• read_once: Should the driver read the input pcap file only once or until you stop it.
• read_fast: Should the driver try to reproduce the timing during replay or it should just read as fast the pcap file as it can and publish the read data.
• repeat_delay: If the driver reads the pcap file more than once, then this delay will be used between two reading.
• rpm: You should give the used rpm during recording. Btw I think we can compute this value from the packages.
• frame_id: If you want to change the default frame IDs.
• min_range: The points those are closer to the device than this value will be omited.
• max_range: The points those are further from the device than this value will be omited.

You can find more information about them (with the exception of read_once, read_fast and repeat_delay) in the documentation: velodyne_driver and velodyne_pointcloud.

[jack-oquin]

The read_once, read_fast and repeat_delay parameters were intended mainly for testing purposes.

If you think they are generally useful, I'll add them to the documentation.