chore: cherry pick 165 (#167)

chore(aip_x2_launch): expand cropbox area (#165)
tier4 · Aug 9, 2023 · dbe59b9 · dbe59b9
1 parent 7ba24e0
commit dbe59b9
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/aip_x2_launch/launch/pandar_node_container.launch.py b/aip_x2_launch/launch/pandar_node_container.launch.py
@@ -62,7 +62,7 @@ def get_vehicle_info(context):
     p["max_longitudinal_offset"] = gp["front_overhang"] + gp["wheel_base"]
     p["min_lateral_offset"] = -(gp["wheel_tread"] / 2.0 + gp["right_overhang"])
     p["max_lateral_offset"] = gp["wheel_tread"] / 2.0 + gp["left_overhang"]
-    p["min_height_offset"] = 0.0
+    p["min_height_offset"] = -0.3  # margin to crop pointcloud under vehicle
     p["max_height_offset"] = gp["vehicle_height"]
     return p