feat: change from velodyne_vls to nebula driver #64
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Signed-off-by: David Wong <david.wong@tier4.jp>
4 tasks
mitsudome-r
approved these changes
Jul 31, 2023
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Description
This PR should only be merged after autowarefoundation/autoware#3699
This PR changes the LiDAR driver used from
velodyne_vlsto Nebula.Nebula is actively maintained, supports more different LiDARs, and has been tested to have feature parity with
velodyne_vlsfor Velodyne VLP16 and Velodyne VLS128.Tests performed
This has been tested with the Autoware
sample_sensor_kit_launchon branchfeat/nebulaand the sample Autoware map and rosbag data found here:https://autowarefoundation.github.io/autoware-documentation/main/tutorials/ad-hoc-simulation/rosbag-replay-simulation/
Localization, pointcloud preprocessing, and perception were all found to work with the same performance as with the previous
velodyne_vlsdriver.Effects on system behavior
System behavior should be the same as when using the previous
velodyne_vlsLiDAR driver, with some performance benefits (and more to come as Nebula is developed and optimized).Pre-review checklist for the PR author
The PR author must check the checkboxes below when creating the PR.
In-review checklist for the PR reviewers
The PR reviewers must check the checkboxes below before approval.
Post-review checklist for the PR author
The PR author must check the checkboxes below before merging.
After all checkboxes are checked, anyone who has write access can merge the PR.