add sim mode..

2026-08-20 13:22:27 +09:00
parent f29b44da07
commit e1d7b7d532
20 changed files with 1079 additions and 14828 deletions
@@ -41,6 +41,7 @@ import uvicorn
 logging.basicConfig(level=logging.INFO)

 _POINT_CLOUD_LIMIT = max(1_000, int(os.environ.get("POINT_CLOUD_LIMIT", "50000")))
+_SENSOR_POINT_CLOUD_LIMIT = max(1_000, int(os.environ.get("SENSOR_POINT_CLOUD_LIMIT", "4000")))
 _CAMERA_FRAME_MAX_AGE_SECONDS = 3.0


@@ -1254,7 +1255,7 @@ class SlamNode(Node):
        payload["transform"] = resolve_2d_transform(tf_snapshot, "map", payload["frame_id"])
        return payload

-    def sensor_point_cloud_payload(self, limit: int = 10_000) -> Optional[dict]:
+    def sensor_point_cloud_payload(self, limit: int = _SENSOR_POINT_CLOUD_LIMIT) -> Optional[dict]:
        with self._lock:
            cloud = self._fallback_point_cloud
            tf_snapshot = dict(self._tf)