From f8c256faf6ab3a57e98ff931064e84e9f9d2c2c2 Mon Sep 17 00:00:00 2001
From: TaikiYamada4 <129915538+TaikiYamada4@users.noreply.github.com>
Date: Thu, 29 Aug 2024 16:53:31 +0900
Subject: [PATCH 1/2] chore(gnss_launch): added autoware_ prefix to gnss_poser
 (#100)

* Added autoware_ prefix to gnss_poser

Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp>

* style(pre-commit): autofix

---------

Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
---
 sample_sensor_kit_launch/launch/gnss.launch.xml | 2 +-
 sample_sensor_kit_launch/package.xml            | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/sample_sensor_kit_launch/launch/gnss.launch.xml b/sample_sensor_kit_launch/launch/gnss.launch.xml
index 0d04cd39..d4fbd403 100644
--- a/sample_sensor_kit_launch/launch/gnss.launch.xml
+++ b/sample_sensor_kit_launch/launch/gnss.launch.xml
@@ -24,7 +24,7 @@
     </group>
 
     <!-- NavSatFix to MGRS Pose -->
-    <include file="$(find-pkg-share gnss_poser)/launch/gnss_poser.launch.xml">
+    <include file="$(find-pkg-share autoware_gnss_poser)/launch/gnss_poser.launch.xml">
       <arg name="input_topic_fix" value="$(var navsatfix_topic_name)"/>
       <arg name="input_topic_orientation" value="$(var orientation_topic_name)"/>
 
diff --git a/sample_sensor_kit_launch/package.xml b/sample_sensor_kit_launch/package.xml
index 210c5a88..5e4472eb 100644
--- a/sample_sensor_kit_launch/package.xml
+++ b/sample_sensor_kit_launch/package.xml
@@ -10,9 +10,9 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
+  <exec_depend>autoware_gnss_poser</exec_depend>
   <exec_depend>autoware_pointcloud_preprocessor</exec_depend>
   <exec_depend>common_sensor_launch</exec_depend>
-  <exec_depend>gnss_poser</exec_depend>
   <exec_depend>tamagawa_imu_driver</exec_depend>
   <exec_depend>topic_tools</exec_depend>
   <exec_depend>ublox_gps</exec_depend>

From fcc7cde9185b89ac31ff2b6dc9880e22057b3cde Mon Sep 17 00:00:00 2001
From: Ismet Atabay <56237550+ismetatabay@users.noreply.github.com>
Date: Tue, 3 Sep 2024 18:33:17 +0300
Subject: [PATCH 2/2] feat: add robosense Bpearl and Helios Lidar launch files
 for users (#102)

Signed-off-by: ismetatabay <ismet@leodrive.ai>
---
 .../launch/nebula_node_container.launch.py    | 25 ++++++++-----
 .../launch/robosense_Bpearl.launch.xml        | 37 +++++++++++++++++++
 .../launch/robosense_Helios.launch.xml        | 37 +++++++++++++++++++
 3 files changed, 90 insertions(+), 9 deletions(-)
 create mode 100644 common_sensor_launch/launch/robosense_Bpearl.launch.xml
 create mode 100644 common_sensor_launch/launch/robosense_Helios.launch.xml

diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py
index 49e0b958..e885d92e 100644
--- a/common_sensor_launch/launch/nebula_node_container.launch.py
+++ b/common_sensor_launch/launch/nebula_node_container.launch.py
@@ -34,6 +34,8 @@ def get_lidar_make(sensor_name):
         return "Hesai", ".csv"
     elif sensor_name[:3].lower() in ["hdl", "vlp", "vls"]:
         return "Velodyne", ".yaml"
+    elif sensor_name.lower() in ["helios", "bpearl"]:
+        return "Robosense", None
     return "unrecognized_sensor_model"
 
 
@@ -75,15 +77,18 @@ def create_parameter_dict(*args):
     nebula_decoders_share_dir = get_package_share_directory("nebula_decoders")
 
     # Calibration file
-    sensor_calib_fp = os.path.join(
-        nebula_decoders_share_dir,
-        "calibration",
-        sensor_make.lower(),
-        sensor_model + sensor_extension,
-    )
-    assert os.path.exists(
-        sensor_calib_fp
-    ), "Sensor calib file under calibration/ was not found: {}".format(sensor_calib_fp)
+    if sensor_extension is not None:  # Velodyne and Hesai
+        sensor_calib_fp = os.path.join(
+            nebula_decoders_share_dir,
+            "calibration",
+            sensor_make.lower(),
+            sensor_model + sensor_extension,
+        )
+        assert os.path.exists(
+            sensor_calib_fp
+        ), "Sensor calib file under calibration/ was not found: {}".format(sensor_calib_fp)
+    else:  # Robosense
+        sensor_calib_fp = ""
 
     # Pointcloud preprocessor parameters
     distortion_corrector_node_param = ParameterFile(
@@ -129,6 +134,8 @@ def create_parameter_dict(*args):
                 # cSpell:ignore knzo25
                 # TODO(knzo25): fix the remapping once nebula gets updated
                 ("velodyne_points", "pointcloud_raw_ex"),
+                # ("robosense_points", "pointcloud_raw_ex"), #for robosense
+                # ("pandar_points", "pointcloud_raw_ex"), # for hesai
             ],
             extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
         )
diff --git a/common_sensor_launch/launch/robosense_Bpearl.launch.xml b/common_sensor_launch/launch/robosense_Bpearl.launch.xml
new file mode 100644
index 00000000..8fa49ef1
--- /dev/null
+++ b/common_sensor_launch/launch/robosense_Bpearl.launch.xml
@@ -0,0 +1,37 @@
+<launch>
+  <!-- Params -->
+  <arg name="launch_driver" default="true"/>
+  <arg name="model" default="Bpearl"/>
+  <arg name="max_range" default="30.0"/>
+  <arg name="min_range" default="0.4"/>
+  <arg name="sensor_frame" default="robosense"/>
+  <arg name="return_mode" default="SingleStrongest"/>
+  <arg name="sensor_ip" default="192.168.1.200"/>
+  <arg name="host_ip" default="255.255.255.255"/>
+  <arg name="data_port" default="2368"/>
+  <arg name="gnss_port" default="7788"/>
+  <arg name="scan_phase" default="0.0"/>
+  <arg name="cloud_min_angle" default="0"/>
+  <arg name="cloud_max_angle" default="360"/>
+  <arg name="vehicle_mirror_param_file"/>
+  <arg name="container_name" default="robosense_node_container"/>
+
+  <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
+    <arg name="launch_driver" value="$(var launch_driver)"/>
+    <arg name="sensor_model" value="$(var model)"/>
+    <arg name="return_mode" value="$(var return_mode)"/>
+    <arg name="max_range" value="$(var max_range)"/>
+    <arg name="min_range" value="$(var min_range)"/>
+    <arg name="frame_id" value="$(var sensor_frame)"/>
+    <arg name="sensor_ip" value="$(var sensor_ip)"/>
+    <arg name="host_ip" value="$(var host_ip)"/>
+    <arg name="data_port" value="$(var data_port)"/>
+    <arg name="scan_phase" value="$(var scan_phase)"/>
+    <arg name="cloud_min_angle" value="$(var cloud_min_angle)"/>
+    <arg name="cloud_max_angle" value="$(var cloud_max_angle)"/>
+    <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
+    <arg name="use_intra_process" value="true"/>
+    <arg name="use_multithread" value="false"/>
+    <arg name="container_name" value="$(var container_name)"/>
+  </include>
+</launch>
diff --git a/common_sensor_launch/launch/robosense_Helios.launch.xml b/common_sensor_launch/launch/robosense_Helios.launch.xml
new file mode 100644
index 00000000..09addc20
--- /dev/null
+++ b/common_sensor_launch/launch/robosense_Helios.launch.xml
@@ -0,0 +1,37 @@
+<launch>
+  <!-- Params -->
+  <arg name="launch_driver" default="true"/>
+  <arg name="model" default="Helios"/>
+  <arg name="max_range" default="150.0"/>
+  <arg name="min_range" default="0.2"/>
+  <arg name="sensor_frame" default="robosense"/>
+  <arg name="return_mode" default="SingleStrongest"/>
+  <arg name="sensor_ip" default="192.168.1.200"/>
+  <arg name="host_ip" default="255.255.255.255"/>
+  <arg name="data_port" default="2368"/>
+  <arg name="gnss_port" default="7788"/>
+  <arg name="scan_phase" default="0.0"/>
+  <arg name="cloud_min_angle" default="0"/>
+  <arg name="cloud_max_angle" default="360"/>
+  <arg name="vehicle_mirror_param_file"/>
+  <arg name="container_name" default="robosense_node_container"/>
+
+  <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
+    <arg name="launch_driver" value="$(var launch_driver)"/>
+    <arg name="sensor_model" value="$(var model)"/>
+    <arg name="return_mode" value="$(var return_mode)"/>
+    <arg name="max_range" value="$(var max_range)"/>
+    <arg name="min_range" value="$(var min_range)"/>
+    <arg name="frame_id" value="$(var sensor_frame)"/>
+    <arg name="sensor_ip" value="$(var sensor_ip)"/>
+    <arg name="host_ip" value="$(var host_ip)"/>
+    <arg name="data_port" value="$(var data_port)"/>
+    <arg name="scan_phase" value="$(var scan_phase)"/>
+    <arg name="cloud_min_angle" value="$(var cloud_min_angle)"/>
+    <arg name="cloud_max_angle" value="$(var cloud_max_angle)"/>
+    <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
+    <arg name="use_intra_process" value="true"/>
+    <arg name="use_multithread" value="false"/>
+    <arg name="container_name" value="$(var container_name)"/>
+  </include>
+</launch>