Merge lidar integration to main #11
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- Improved point cloud filtering to retain more valid points - Enhanced WebSocket server stability with better port cleanup - Added IPv4/IPv6 support for process termination - Reduced point size in visualization for better clarity - Fixed server cleanup to prevent port binding issues Technical changes: - Modified distance threshold from 0 to 0.001m in lidar_core.py - Updated port cleanup logic to handle both IPv4 and IPv6 bindings - Increased cleanup wait times for more reliable process termination - Adjusted point cloud visualization size from 0.05 to 0.02 Resolves issues: - Point count reduction from filtering - WebSocket server port binding failures - Visualization clarity with large point sizes
castvier
requested review from
Lcedeno14,
paramdesai321 and
xunfei-jiang
and removed request for
paramdesai321
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Summary
This PR merges all the lidar integration development work from the
lidar-integration-dev-fall2024branch into main.Key Features
Changes
Ready for review and merge to main.