update the frame_id of lidar

Signed-off-by: Tomohito Ando <[email protected]>
tier4 · Jul 12, 2024 · 07273e8 · 07273e8
1 parent 587ab5f
commit 07273e8
Showing 1 changed file with 8 additions and 8 deletions.
diff --git a/aip_x2_launch/launch/lidar.launch.xml b/aip_x2_launch/launch/lidar.launch.xml
@@ -29,7 +29,7 @@
       <push-ros-namespace namespace="right_upper" />
       <include file="$(find-pkg-share aip_x2_launch)/launch/hesai_OT128.launch.xml">
         <arg name="setup_sensor" value="$(var setup_sensor)"/>
-        <arg name="sensor_frame" value="pandar_40p_right"/>
+        <arg name="sensor_frame" value="right_upper/lidar"/>
         <arg name="sensor_ip" value="192.168.1.202"/>
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2321"/>
@@ -60,7 +60,7 @@
       <push-ros-namespace namespace="rear_upper" />
       <include file="$(find-pkg-share aip_x2_launch)/launch/hesai_OT128.launch.xml">
         <arg name="setup_sensor" value="$(var setup_sensor)"/>
-        <arg name="sensor_frame" value="pandar_40p_rear"/>
+        <arg name="sensor_frame" value="rear_upper/lidar"/>
         <arg name="sensor_ip" value="192.168.1.203"/>
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2322"/>
@@ -91,7 +91,7 @@
       <push-ros-namespace namespace="right_lower" />
       <include file="$(find-pkg-share aip_x2_launch)/launch/hesai_QT128.launch.xml">
         <arg name="setup_sensor" value="$(var setup_sensor)"/>
-        <arg name="sensor_frame" value="pandar_qt_right"/>
+        <arg name="sensor_frame" value="right_lower/lidar"/>
         <arg name="sensor_ip" value="192.168.1.212"/>
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2376"/>
@@ -124,7 +124,7 @@
       <push-ros-namespace namespace="rear_lower" />
       <include file="$(find-pkg-share aip_x2_launch)/launch/hesai_QT128.launch.xml">
         <arg name="setup_sensor" value="$(var setup_sensor)"/>
-        <arg name="sensor_frame" value="pandar_qt_rear"/>
+        <arg name="sensor_frame" value="rear_lower/lidar"/>
         <arg name="sensor_ip" value="192.168.1.213"/>
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2377"/>
@@ -158,7 +158,7 @@
       <push-ros-namespace namespace="left_upper" />
       <include file="$(find-pkg-share aip_x2_launch)/launch/hesai_OT128.launch.xml">
         <arg name="setup_sensor" value="$(var setup_sensor)"/>
-        <arg name="sensor_frame" value="pandar_40p_left"/>
+        <arg name="sensor_frame" value="left_upper/lidar"/>
         <arg name="sensor_ip" value="192.168.1.204"/>
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2323"/>
@@ -189,7 +189,7 @@
       <push-ros-namespace namespace="front_upper" />
       <include file="$(find-pkg-share aip_x2_launch)/launch/hesai_OT128.launch.xml">
         <arg name="setup_sensor" value="$(var setup_sensor)"/>
-        <arg name="sensor_frame" value="pandar_40p_front"/>
+        <arg name="sensor_frame" value="front_upper/lidar"/>
         <arg name="sensor_ip" value="192.168.1.205"/>
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2324"/>
@@ -220,7 +220,7 @@
       <push-ros-namespace namespace="left_lower" />
       <include file="$(find-pkg-share aip_x2_launch)/launch/hesai_QT128.launch.xml">
         <arg name="setup_sensor" value="$(var setup_sensor)"/>
-        <arg name="sensor_frame" value="pandar_qt_left"/>
+        <arg name="sensor_frame" value="left_lower/lidar"/>
         <arg name="sensor_ip" value="192.168.1.214"/>
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2378"/>
@@ -253,7 +253,7 @@
       <push-ros-namespace namespace="front_lower" />
       <include file="$(find-pkg-share aip_x2_launch)/launch/hesai_QT128.launch.xml">
         <arg name="setup_sensor" value="$(var setup_sensor)"/>
-        <arg name="sensor_frame" value="pandar_qt_front"/>
+        <arg name="sensor_frame" value="front_lower/lidar"/>
         <arg name="sensor_ip" value="192.168.1.215"/>
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2379"/>