From c4e2b506320dbe0ae163f9a905748d208481b6c6 Mon Sep 17 00:00:00 2001
From: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
Date: Thu, 14 Nov 2024 10:07:17 +0900
Subject: [PATCH] Added udp_only

Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
---
 common_sensor_launch/launch/nebula_node_container.launch.py | 2 ++
 common_sensor_launch/launch/robosense_Bpearl.launch.xml     | 2 ++
 common_sensor_launch/launch/robosense_Helios.launch.xml     | 2 ++
 common_sensor_launch/launch/velodyne_VLP16.launch.xml       | 2 ++
 common_sensor_launch/launch/velodyne_VLS128.launch.xml      | 2 ++
 5 files changed, 10 insertions(+)

diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py
index a5bdb08d..2a87e09b 100644
--- a/common_sensor_launch/launch/nebula_node_container.launch.py
+++ b/common_sensor_launch/launch/nebula_node_container.launch.py
@@ -135,6 +135,7 @@ def create_parameter_dict(*args):
                         "rotation_speed",
                         "packet_mtu_size",
                         "setup_sensor",
+                        "udp_only",
                     ),
                 },
             ],
@@ -300,6 +301,7 @@ def add_launch_arg(name: str, default_value=None, description=None):
         ),
         description="path to parameter file of ring outlier filter node",
     )
+    add_launch_arg("udp_only", "False", "use UDP only")
 
     set_container_executable = SetLaunchConfiguration(
         "container_executable",
diff --git a/common_sensor_launch/launch/robosense_Bpearl.launch.xml b/common_sensor_launch/launch/robosense_Bpearl.launch.xml
index 8fa49ef1..e9816d4d 100644
--- a/common_sensor_launch/launch/robosense_Bpearl.launch.xml
+++ b/common_sensor_launch/launch/robosense_Bpearl.launch.xml
@@ -15,6 +15,7 @@
   <arg name="cloud_max_angle" default="360"/>
   <arg name="vehicle_mirror_param_file"/>
   <arg name="container_name" default="robosense_node_container"/>
+  <arg name="udp_only" default="false"/>
 
   <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
     <arg name="launch_driver" value="$(var launch_driver)"/>
@@ -33,5 +34,6 @@
     <arg name="use_intra_process" value="true"/>
     <arg name="use_multithread" value="false"/>
     <arg name="container_name" value="$(var container_name)"/>
+    <arg name="udp_only" value="$(var udp_only)"/>
   </include>
 </launch>
diff --git a/common_sensor_launch/launch/robosense_Helios.launch.xml b/common_sensor_launch/launch/robosense_Helios.launch.xml
index 09addc20..b706911b 100644
--- a/common_sensor_launch/launch/robosense_Helios.launch.xml
+++ b/common_sensor_launch/launch/robosense_Helios.launch.xml
@@ -15,6 +15,7 @@
   <arg name="cloud_max_angle" default="360"/>
   <arg name="vehicle_mirror_param_file"/>
   <arg name="container_name" default="robosense_node_container"/>
+  <arg name="udp_only" default="false"/>
 
   <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
     <arg name="launch_driver" value="$(var launch_driver)"/>
@@ -33,5 +34,6 @@
     <arg name="use_intra_process" value="true"/>
     <arg name="use_multithread" value="false"/>
     <arg name="container_name" value="$(var container_name)"/>
+    <arg name="udp_only" value="$(var udp_only)"/>
   </include>
 </launch>
diff --git a/common_sensor_launch/launch/velodyne_VLP16.launch.xml b/common_sensor_launch/launch/velodyne_VLP16.launch.xml
index f0fcc075..870cf1e6 100644
--- a/common_sensor_launch/launch/velodyne_VLP16.launch.xml
+++ b/common_sensor_launch/launch/velodyne_VLP16.launch.xml
@@ -14,6 +14,7 @@
   <arg name="cloud_max_angle" default="360"/>
   <arg name="vehicle_mirror_param_file"/>
   <arg name="container_name" default="velodyne_node_container"/>
+  <arg name="udp_only" default="false"/>
 
   <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
     <arg name="launch_driver" value="$(var launch_driver)"/>
@@ -32,6 +33,7 @@
     <arg name="use_intra_process" value="true"/>
     <arg name="use_multithread" value="false"/>
     <arg name="container_name" value="$(var container_name)"/>
+    <arg name="udp_only" value="$(var udp_only)"/>
   </include>
 
   <!-- Velodyne Monitor -->
diff --git a/common_sensor_launch/launch/velodyne_VLS128.launch.xml b/common_sensor_launch/launch/velodyne_VLS128.launch.xml
index d2797ac8..5cf2bf2e 100644
--- a/common_sensor_launch/launch/velodyne_VLS128.launch.xml
+++ b/common_sensor_launch/launch/velodyne_VLS128.launch.xml
@@ -14,6 +14,7 @@
   <arg name="cloud_max_angle" default="360"/>
   <arg name="vehicle_mirror_param_file"/>
   <arg name="container_name" default="velodyne_node_container"/>
+  <arg name="udp_only" default="false"/>
 
   <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
     <arg name="launch_driver" value="$(var launch_driver)"/>
@@ -32,6 +33,7 @@
     <arg name="use_intra_process" value="true"/>
     <arg name="use_multithread" value="true"/>
     <arg name="container_name" value="$(var container_name)"/>
+    <arg name="udp_only" value="$(var udp_only)"/>
   </include>
 
   <!-- Velodyne Monitor -->