<commit_before><!--  -->
<launch>

  <!-- publisher -->
  <arg name="initial_pose_topic" value="/move_base_simple/goal" />
  <arg name="real_objects_topic" value="/detected_objects" />
  <arg name="real_points_topic" value="/points_raw" />
  <arg name="fake_twist_topic" value="/fake_twist" />

  <!-- subscriber -->
  <arg name="fake_objects_topic" value="/fake_objects" />
  <arg name="fake_points_topic" value="/fake_points" />

  <!-- param, publishing -->
  <arg name="publish_object" value="true" />
  <arg name="publish_points" value="true" />
  <arg name="publish_rate" value="10.0" />

  <!-- param, object shape -->
  <arg name="object_length" value="5.0" />
  <arg name="object_width" value="2.0" />
  <arg name="object_height" value="2.0" />
  <arg name="object_z_offset" value="-2.0" />

  <!-- param, object motion -->
  <arg name="use_fake_twist" value="true" />
  <arg name="object_velocity" value="3.0" />
  <arg name="object_angular_velocity" value="0.0" />

  <!-- param, object meta-info -->
  <arg name="object_intensity" value="100.0" />
  <arg name="object_lifetime" value="-1" />
  <arg name="object_points_space" value="0.2" />
  <arg name="object_label" value="Stable" />
  <arg name="object_frame" value="velodyne" />

	<node pkg="lidar_fake_perception" type="lidar_fake_perception_node" name="lidar_fake_perception" output="screen">
    <remap from="/move_base_simple/goal" to="$(arg initial_pose_topic)" />
    <remap from="/detected_objects" to="$(arg real_objects_topic)" />
    <remap from="/points_raw" to="$(arg real_points_topic)" />
    <remap from="/fake_twist" to="$(arg fake_twist_topic)" /><commit_msg>Fix launch args<commit_after><!--  -->
<launch>

  <!-- publisher -->
  <arg name="initial_pose_topic" default="/move_base_simple/goal" />
  <arg name="real_objects_topic" default="/detected_objects" />
  <arg name="real_points_topic" default="/points_raw" />
  <arg name="fake_twist_topic" default="/fake_twist" />

  <!-- subscriber -->
  <arg name="fake_objects_topic" default="/fake_objects" />
  <arg name="fake_points_topic" default="/fake_points" />

  <!-- param, publishing -->
  <arg name="publish_object" default="true" />
  <arg name="publish_points" default="true" />
  <arg name="publish_rate" default="10.0" />

  <!-- param, object shape -->
  <arg name="object_length" default="5.0" />
  <arg name="object_width" default="2.0" />
  <arg name="object_height" default="2.0" />
  <arg name="object_z_offset" default="-2.0" />

  <!-- param, object motion -->
  <arg name="use_fake_twist" default="true" />
  <arg name="object_velocity" default="3.0" />
  <arg name="object_angular_velocity" default="0.0" />

  <!-- param, object meta-info -->
  <arg name="object_intensity" default="100.0" />
  <arg name="object_lifetime" default="-1" />
  <arg name="object_points_space" default="0.2" />
  <arg name="object_label" default="Stable" />
  <arg name="object_frame" default="velodyne" />

	<node pkg="lidar_fake_perception" type="lidar_fake_perception_node" name="lidar_fake_perception" output="screen">
    <remap from="/move_base_simple/goal" to="$(arg initial_pose_topic)" />
    <remap from="/detected_objects" to="$(arg real_objects_topic)" />
    <remap from="/points_raw" to="$(arg real_points_topic)" />
    <remap from="/fake_twist" to="$(arg fake_twist_topic)" />
{'fraction_non_alphanumeric': 0.20012019230769232, 'fraction_numerical': 0.013221153846153846, 'mean_word_length': 4.671209540034072, 'pattern_counts': {'":': 0, '<': 71, '<?xml version=': 0, '>': 71, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
{'dir': 'git-commits-cleaned', 'id': '6993600', 'n_tokens_mistral': 1185, 'n_tokens_neox': 1139, 'n_words': 200}