From a51a61d69e5a586c24b2d7cb0083f1183472fbe8 Mon Sep 17 00:00:00 2001
From: Huang77 <2366619700@qq.com>
Date: Thu, 13 Aug 2026 13:55:34 +0800
Subject: [PATCH] update

---
 src/ros_viz_adapter/README.md                | 10 ++++++++++
 src/ros_viz_adapter/launch/adapter.launch.py |  8 ++++++++
 src/ros_viz_adapter/src/adapter.cpp          |  6 +++---
 3 files changed, 21 insertions(+), 3 deletions(-)

diff --git a/src/ros_viz_adapter/README.md b/src/ros_viz_adapter/README.md
index bcf981e..1046d1d 100644
--- a/src/ros_viz_adapter/README.md
+++ b/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
diff --git a/src/ros_viz_adapter/launch/adapter.launch.py b/src/ros_viz_adapter/launch/adapter.launch.py
index f822e51..d331c52 100644
--- a/src/ros_viz_adapter/launch/adapter.launch.py
+++ b/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'),
             }],
         ),
     ])
diff --git a/src/ros_viz_adapter/src/adapter.cpp b/src/ros_viz_adapter/src/adapter.cpp
index 305dc94..895f063 100644
--- a/src/ros_viz_adapter/src/adapter.cpp
+++ b/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();