version: "1"
app_id: lidar_validate
app_version: "1.0.0"
hidden: true
setup_script: /opt/ros/noetic/setup.bash
name: 雷达数据质量验证
name_en: LiDAR Data Quality Validation
name_ru: Проверка качества данных LiDAR
description: 验证 Livox 雷达 bag 文件的帧间间隔、点数、NaN、仰角质量
description_en: Validates Livox LiDAR bag files for frame interval, point count, NaN values, and elevation quality.
description_ru: Проверка bag-файлов Livox LiDAR на интервал кадров, количество точек, NaN и качество угла возвышения.
command_template: "{{app_dir}}/bin/lidar_validate --bag {{bag_file}} --topic {{topic}} --interval {{interval}} --tolerance {{tolerance}} --min-points {{min_points}} --min-elevation {{min_elevation}} --max-elevation {{max_elevation}}"
parameters:
  - name: bag_file
    type: path
    required: true
    description: Livox 雷达 bag 文件
    source_dir: /home/ramy/savebag
    constraints:
      regex: '.*\.bag$'
  - name: topic
    type: string
    default: "/livox/lidar"
    description: 雷达 topic 名称
  - name: interval
    type: float
    default: 100.0
    description: 预期帧间隔（ms）
  - name: tolerance
    type: float
    default: 20.0
    description: 间隔容差（ms）
  - name: min_points
    type: integer
    default: 1000
    description: 最少点数阈值
  - name: min_elevation
    type: float
    default: -8.0
    description: 最小仰角（度）
  - name: max_elevation
    type: float
    default: 60.0
    description: 最大仰角（度）
