Increase the default max_range limit to 10,000 meters

ouster-lidar · Sep 18, 2024 · 900100c · 900100c
1 parent 5bbfe32
commit 900100c
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Showing 8 changed files with 9 additions and 9 deletions.
diff --git a/launch/driver.launch b/launch/driver.launch
@@ -92,7 +92,7 @@
 
   <arg name="min_range" default="0.0"
     doc="minimum lidar range to consider (meters)"/>
-  <arg name="max_range" default="1000.0"
+  <arg name="max_range" default="10000.0"
     doc="maximum lidar range to consider (meters)"/>
 
   <group ns="$(arg ouster_ns)">

diff --git a/launch/replay.launch b/launch/replay.launch
@@ -66,7 +66,7 @@
 
   <arg name="min_range" default="0.0"
     doc="minimum lidar range to consider (meters)"/>
-  <arg name="max_range" default="1000.0"
+  <arg name="max_range" default="10000.0"
     doc="maximum lidar range to consider (meters)"/>
 
   <group ns="$(arg ouster_ns)">

diff --git a/launch/replay_pcap.launch b/launch/replay_pcap.launch
@@ -60,7 +60,7 @@
 
   <arg name="min_range" default="0.0"
     doc="minimum lidar range to consider (meters)"/>
-  <arg name="max_range" default="1000.0"
+  <arg name="max_range" default="10000.0"
     doc="maximum lidar range to consider (meters)"/>
 
   <group ns="$(arg ouster_ns)">

diff --git a/launch/sensor.launch b/launch/sensor.launch
@@ -100,7 +100,7 @@
 
   <arg name="min_range" default="0.0"
     doc="minimum lidar range to consider (meters)"/>
-  <arg name="max_range" default="1000.0"
+  <arg name="max_range" default="10000.0"
     doc="maximum lidar range to consider (meters)"/>
 
   <group ns="$(arg ouster_ns)">

diff --git a/launch/sensor_mtp.launch b/launch/sensor_mtp.launch
@@ -104,7 +104,7 @@
 
   <arg name="min_range" default="0.0"
     doc="minimum lidar range to consider (meters)"/>
-  <arg name="max_range" default="1000.0"
+  <arg name="max_range" default="10000.0"
     doc="maximum lidar range to consider (meters)"/>
 
   <group ns="$(arg ouster_ns)">

diff --git a/src/os_cloud_nodelet.cpp b/src/os_cloud_nodelet.cpp
@@ -165,7 +165,7 @@ class OusterCloud : public nodelet::Nodelet {
             auto organized = pnh.param("organized", true);
             auto destagger = pnh.param("destagger", true);
             auto min_range_m = pnh.param("min_range", 0.0);
-            auto max_range_m = pnh.param("max_range", 1000.0);   // 1000m
+            auto max_range_m = pnh.param("max_range", 10000.0);
             if (min_range_m < 0.0 || max_range_m < 0.0) {
                 NODELET_FATAL("min_range and max_range need to be positive");
                 throw std::runtime_error("negative range limits!");

diff --git a/src/os_driver_nodelet.cpp b/src/os_driver_nodelet.cpp
@@ -126,7 +126,7 @@ class OusterDriver : public OusterSensor {
             auto organized = pnh.param("organized", true);
             auto destagger = pnh.param("destagger", true);
             auto min_range_m = pnh.param("min_range", 0.0);
-            auto max_range_m = pnh.param("max_range", 1000.0);   // 1000m
+            auto max_range_m = pnh.param("max_range", 10000.0);
             if (min_range_m < 0.0 || max_range_m < 0.0) {
                 NODELET_FATAL("min_range and max_range need to be positive");
                 throw std::runtime_error("negative range limits!");

diff --git a/src/os_sensor_nodelet.cpp b/src/os_sensor_nodelet.cpp
@@ -566,7 +566,7 @@ void OusterSensor::handle_poll_client_error() {
     // in case error continues for a while attempt to recover by
     // performing sensor reset
     if (++poll_client_error_count > max_poll_client_error_count) {
-        NODELET_ERROR_STREAM(
+        NODELET_ERROR(
             "maximum number of allowed errors from "
             "sensor::poll_client() reached, performing self reset...");
         poll_client_error_count = 0;
@@ -601,7 +601,7 @@ void OusterSensor::handle_imu_packet(sensor::client& cli,
         on_imu_packet_msg(imu_packet);
     } else {
         if (++read_imu_packet_errors > max_read_imu_packet_errors) {
-            NODELET_ERROR_STREAM(
+            NODELET_ERROR(
                 "maximum number of allowed errors from "
                 "sensor::read_imu_packet() reached, reactivating...");
             read_imu_packet_errors = 0;