Johnliu/rtx lidar update#351
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…e parameter to vdb model to avoid self-detection.
…sors Agent-Logs-Url: https://github.com/castacks/AirStack/sessions/7ce7609a-a7f3-414d-9d42-0c9999d0459f Co-authored-by: andrewjong <8121216+andrewjong@users.noreply.github.com>
Agent-Logs-Url: https://github.com/castacks/AirStack/sessions/bdf00f6f-1d9f-4597-bf57-b96f99421646 Co-authored-by: andrewjong <8121216+andrewjong@users.noreply.github.com>
Agent-Logs-Url: https://github.com/castacks/AirStack/sessions/2d5718ac-20e3-4f10-a12e-05d601cf000c Co-authored-by: JohnYanxinLiu <63010779+JohnYanxinLiu@users.noreply.github.com>
Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com>
Agent-Logs-Url: https://github.com/castacks/AirStack/sessions/fbad2b9c-1761-45b1-b464-3e874511255c Co-authored-by: JohnYanxinLiu <63010779+JohnYanxinLiu@users.noreply.github.com>
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May 8, 2026
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May 13, 2026
* Update PegasusSim lidar to new rtx lidar and optional min_sensor_range parameter to vdb model to avoid self-detection. * removed deprecated ouster lidar. Completely integrated new rtx lidar * renaming frame id back to ouster * Added node to filter near and invalid lidar points * reconciled topic names for lidar point cloud * fixed example scripts to use rtx lidar api * fixed tmux closing and rclpy path issue * uses add_rtx in multi px4 script * bumping version index * docs added * unit testing and documentation updates * cleaning code from copilot suggestions * docs(tests): fix pytest marker example for running liveliness and sensors Agent-Logs-Url: https://github.com/castacks/AirStack/sessions/7ce7609a-a7f3-414d-9d42-0c9999d0459f Co-authored-by: andrewjong <8121216+andrewjong@users.noreply.github.com> * docs(tests): fix marker semantics in test_sensors module docstring Agent-Logs-Url: https://github.com/castacks/AirStack/sessions/bdf00f6f-1d9f-4597-bf57-b96f99421646 Co-authored-by: andrewjong <8121216+andrewjong@users.noreply.github.com> * addressing github copilot concerns * docs(bridge): remove stale camera topics comment Agent-Logs-Url: https://github.com/castacks/AirStack/sessions/2d5718ac-20e3-4f10-a12e-05d601cf000c Co-authored-by: JohnYanxinLiu <63010779+JohnYanxinLiu@users.noreply.github.com> * addressing copilot concerns * removing debug print statement from reading point cloud Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com> * fix(isaac-sim): align drone1 lidar prim path with spawned prim Agent-Logs-Url: https://github.com/castacks/AirStack/sessions/fbad2b9c-1761-45b1-b464-3e874511255c Co-authored-by: JohnYanxinLiu <63010779+JohnYanxinLiu@users.noreply.github.com> * more succint comment in sim bashrc * resolving discrepant comments in ros bridge yaml * removed bug allocated new copy of point cloud array * logs lidaar test with boolean instead of hz * and --> or for marks --------- Co-authored-by: copilot-swe-agent[bot] <198982749+Copilot@users.noreply.github.com> Co-authored-by: andrewjong <8121216+andrewjong@users.noreply.github.com> Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com> Co-authored-by: Andrew Jong <ajong@andrew.cmu.edu>
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What features did you add and/or bugs did you address?
Updates lidar api to new rtx lidar. Adds lidar filtering node
https://youtu.be/RyuO9QsAT60
How did you implement it?
The lidar filtering node subscribes to the
_rawlidar topic from the simulationHow do you run and use it?
What commands and button presses do you use to manually launch the stack to use your new feature?
Just
airstack uppressingtakeoffand excuting the exploration node.Write a detailed procedure with EXACT BASH COMMANDS so that another maintainer can replicate and understand the benefits of your feature, and reproduce the videos and images you added above.
Testing with PyTest
What pytests did you add to ensure the feature is reliable and robust? What metrics are used?
What's the exact command to run the pytests that test your feature? i.e.
airstack test -m ...airstack test -m sensors --sim isaacsim --num-robots 1 --stress-iterations 1 --stable-duration 60 -vWhat are the expected results of the tests? What should a maintainer look at to understand whether the test succeeded?
All 8 tests should pass.
Documentation
Was mkdocs.yml updated? (y/n)
Do the docs have sufficient scope such that a newcomer can easily reproduce and use your feature?
Is there sufficient visual media?
Versioning
.envfile according to semantic versioning?