update

src/ros_viz_adapter/README.md

@@ -24,6 +24,16 @@ colcon build --packages-select ros_viz_adapter --symlink-install
 ros2 launch ros_viz_adapter adapter.launch.py
 ```
 
+点云可视化示例：
+
+```bash
+ros2 launch ros_viz_adapter adapter.launch.py \
+  input_fps_limit:=10 \
+  output_fps:=5 \
+  voxel_size_m:=0.10 \
+  max_points:=50000
+```
+
 参数：
 
 ```text

src/ros_viz_adapter/launch/adapter.launch.py

@@ -7,11 +7,19 @@ from launch_ros.actions import Node
 def generate_launch_description():
     return LaunchDescription([
         DeclareLaunchArgument('output_namespace', default_value='/viz'),
+        DeclareLaunchArgument('input_fps_limit', default_value='30.0'),
+        DeclareLaunchArgument('output_fps', default_value='10.0'),
+        DeclareLaunchArgument('voxel_size_m', default_value='0.05'),
+        DeclareLaunchArgument('max_points', default_value='100000'),
         Node(
             package='ros_viz_adapter', executable='adapter',
             name='ros_viz_adapter', output='screen',
             parameters=[{
                 'output_namespace': LaunchConfiguration('output_namespace'),
+                'input_fps_limit': LaunchConfiguration('input_fps_limit'),
+                'output_fps': LaunchConfiguration('output_fps'),
+                'voxel_size_m': LaunchConfiguration('voxel_size_m'),
+                'max_points': LaunchConfiguration('max_points'),
             }],
         ),
     ])

src/ros_viz_adapter/src/adapter.cpp

@@ -26,9 +26,9 @@ class Adapter final : public rclcpp::Node {
 public:
   Adapter() : Node("ros_viz_adapter") {
     output_ns_ = declare_parameter<std::string>("output_namespace", "/viz");
-    input_fps_ = declare_parameter<double>("input_fps_limit", 30.0);
-    output_fps_ = declare_parameter<double>("output_fps", 10.0);
-    voxel_ = declare_parameter<double>("voxel_size_m", 0.05);
+    input_fps_ = std::max(0.0, declare_parameter<double>("input_fps_limit", 30.0));
+    output_fps_ = std::max(0.0, declare_parameter<double>("output_fps", 10.0));
+    voxel_ = std::max(0.0, declare_parameter<double>("voxel_size_m", 0.05));
     max_points_ = std::max<int>(1, declare_parameter<int>("max_points", 100000));
     qos_ = rclcpp::SensorDataQoS().keep_last(1);
     discover();