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feat: update launcher to apply nebula updates (#310)
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* fix(lidar): update PTP settings for new PTP architecture

* fix(lidar): set FoVs to their desired (no added padding for correction) values as Nebula handles this now

* chore(lidar): change parameters and node name to nebula/develop versions

* fix(nebula_node_container): add multicast_ip parameter

* fix(nebula_node_container): add point_filters parameter

* hotfix(nebula_container_launch): ring outlier filter segfaults, disable it for now

* ci(pre-commit): autofix

* feat(common_sensor_launch): add distortion corrector param (#247)

* feat: add distortion corrector param

Signed-off-by: vividf <[email protected]>

* ci(pre-commit): autofix

---------

Signed-off-by: vividf <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* chore: add parameter for distortion corrector

---------

Signed-off-by: vividf <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Yi-Hsiang Fang (Vivid) <[email protected]>
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@TomohitoAndo @pre-commit-ci @vividf
3 people authored Sep 13, 2024
1 parent e084acb commit 0a997b0
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Showing 5 changed files with 118 additions and 133 deletions.
88 changes: 52 additions & 36 deletions aip_x2_gen2_launch/launch/lidar.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -33,12 +33,15 @@
<arg name="sensor_ip" value="192.168.1.202"/>
<arg name="host_ip" value="$(var host_ip)"/>
<arg name="data_port" value="2321"/>
<arg name="scan_phase" value="90.0"/>
<arg name="cloud_min_angle" value="87"/>
<arg name="cloud_max_angle" value="287"/>
<arg name="sync_angle" value="90"/>
<arg name="cut_angle" value="274.0" />
<arg name="cloud_min_angle" value="88"/>
<arg name="cloud_max_angle" value="274"/>
<arg name="return_mode" value="LastStrongest"/>
<arg name="ptp_profile" value="automotive"/>
<arg name="ptp_transport_type" value="L2"/>
<arg name="ptp_switch_type" value="NON_TSN"/>
<arg name="ptp_domain" value="1"/>
<arg name="ptp_domain" value="0"/>
<arg name="launch_driver" value="$(var launch_driver)"/>
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
<arg name="container_name" value="pointcloud_container"/>
Expand All @@ -64,12 +67,15 @@
<arg name="sensor_ip" value="192.168.1.203"/>
<arg name="host_ip" value="$(var host_ip)"/>
<arg name="data_port" value="2322"/>
<arg name="scan_phase" value="0.0"/>
<arg name="cloud_min_angle" value="80"/>
<arg name="cloud_max_angle" value="10"/>
<arg name="sync_angle" value="0"/>
<arg name="cut_angle" value="0.0" />
<arg name="cloud_min_angle" value="90"/>
<arg name="cloud_max_angle" value="0"/>
<arg name="return_mode" value="LastStrongest"/>
<arg name="ptp_profile" value="automotive"/>
<arg name="ptp_transport_type" value="L2"/>
<arg name="ptp_switch_type" value="NON_TSN"/>
<arg name="ptp_domain" value="2"/>
<arg name="ptp_domain" value="0"/>
<arg name="launch_driver" value="$(var launch_driver)"/>
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
<arg name="container_name" value="pointcloud_container"/>
Expand All @@ -95,14 +101,15 @@
<arg name="sensor_ip" value="192.168.1.212"/>
<arg name="host_ip" value="$(var host_ip)"/>
<arg name="data_port" value="2376"/>
<arg name="scan_phase" value="90.0"/>
<arg name="cloud_min_angle" value="75"/>
<arg name="cloud_max_angle" value="285"/>
<arg name="sync_angle" value="90"/>
<arg name="cut_angle" value="270.0" />
<arg name="cloud_min_angle" value="90"/>
<arg name="cloud_max_angle" value="270"/>
<arg name="return_mode" value="LastStrongest"/>
<arg name="ptp_profile" value="1588v2"/>
<arg name="ptp_profile" value="automotive"/>
<arg name="ptp_transport_type" value="L2"/>
<arg name="ptp_switch_type" value="NON_TSN"/>
<arg name="ptp_domain" value="5"/>
<arg name="ptp_domain" value="0"/>
<arg name="launch_driver" value="$(var launch_driver)"/>
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
<arg name="container_name" value="pointcloud_container"/>
Expand All @@ -128,14 +135,15 @@
<arg name="sensor_ip" value="192.168.1.213"/>
<arg name="host_ip" value="$(var host_ip)"/>
<arg name="data_port" value="2377"/>
<arg name="scan_phase" value="0.0"/>
<arg name="cloud_min_angle" value="75"/>
<arg name="cloud_max_angle" value="285"/>
<arg name="sync_angle" value="0"/>
<arg name="cut_angle" value="270.0" />
<arg name="cloud_min_angle" value="90"/>
<arg name="cloud_max_angle" value="270"/>
<arg name="return_mode" value="LastStrongest"/>
<arg name="ptp_profile" value="1588v2"/>
<arg name="ptp_profile" value="automotive"/>
<arg name="ptp_transport_type" value="L2"/>
<arg name="ptp_switch_type" value="NON_TSN"/>
<arg name="ptp_domain" value="5"/>
<arg name="ptp_domain" value="0"/>
<arg name="launch_driver" value="$(var launch_driver)"/>
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
<arg name="container_name" value="pointcloud_container"/>
Expand All @@ -162,12 +170,15 @@
<arg name="sensor_ip" value="192.168.1.204"/>
<arg name="host_ip" value="$(var host_ip)"/>
<arg name="data_port" value="2323"/>
<arg name="scan_phase" value="270.0"/>
<arg name="cloud_min_angle" value="87"/>
<arg name="cloud_max_angle" value="287"/>
<arg name="sync_angle" value="270"/>
<arg name="cut_angle" value="277.0" />
<arg name="cloud_min_angle" value="97"/>
<arg name="cloud_max_angle" value="277"/>
<arg name="return_mode" value="LastStrongest"/>
<arg name="ptp_profile" value="automotive"/>
<arg name="ptp_transport_type" value="L2"/>
<arg name="ptp_switch_type" value="NON_TSN"/>
<arg name="ptp_domain" value="3"/>
<arg name="ptp_domain" value="0"/>
<arg name="launch_driver" value="$(var launch_driver)"/>
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
<arg name="container_name" value="$(var pointcloud_container_name)"/>
Expand All @@ -193,12 +204,15 @@
<arg name="sensor_ip" value="192.168.1.205"/>
<arg name="host_ip" value="$(var host_ip)"/>
<arg name="data_port" value="2324"/>
<arg name="scan_phase" value="180.0"/>
<arg name="cloud_min_angle" value="350"/>
<arg name="cloud_max_angle" value="280"/>
<arg name="sync_angle" value="180"/>
<arg name="cut_angle" value="270.0" />
<arg name="cloud_min_angle" value="0"/>
<arg name="cloud_max_angle" value="270"/>
<arg name="return_mode" value="LastStrongest"/>
<arg name="ptp_profile" value="automotive"/>
<arg name="ptp_transport_type" value="L2"/>
<arg name="ptp_switch_type" value="NON_TSN"/>
<arg name="ptp_domain" value="4"/>
<arg name="ptp_domain" value="0"/>
<arg name="launch_driver" value="$(var launch_driver)"/>
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
<arg name="container_name" value="$(var pointcloud_container_name)"/>
Expand All @@ -224,14 +238,15 @@
<arg name="sensor_ip" value="192.168.1.214"/>
<arg name="host_ip" value="$(var host_ip)"/>
<arg name="data_port" value="2378"/>
<arg name="scan_phase" value="270.0"/>
<arg name="cloud_min_angle" value="75"/>
<arg name="cloud_max_angle" value="285"/>
<arg name="sync_angle" value="270"/>
<arg name="cut_angle" value="270.0" />
<arg name="cloud_min_angle" value="90"/>
<arg name="cloud_max_angle" value="270"/>
<arg name="return_mode" value="LastStrongest"/>
<arg name="ptp_profile" value="1588v2"/>
<arg name="ptp_profile" value="automotive"/>
<arg name="ptp_transport_type" value="L2"/>
<arg name="ptp_switch_type" value="NON_TSN"/>
<arg name="ptp_domain" value="5"/>
<arg name="ptp_domain" value="0"/>
<arg name="launch_driver" value="$(var launch_driver)"/>
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
<arg name="container_name" value="$(var pointcloud_container_name)"/>
Expand All @@ -257,14 +272,15 @@
<arg name="sensor_ip" value="192.168.1.215"/>
<arg name="host_ip" value="$(var host_ip)"/>
<arg name="data_port" value="2379"/>
<arg name="scan_phase" value="180.0"/>
<arg name="cloud_min_angle" value="75"/>
<arg name="cloud_max_angle" value="285"/>
<arg name="sync_angle" value="180"/>
<arg name="cut_angle" value="270.0" />
<arg name="cloud_min_angle" value="90"/>
<arg name="cloud_max_angle" value="270"/>
<arg name="return_mode" value="LastStrongest"/>
<arg name="ptp_profile" value="1588v2"/>
<arg name="ptp_profile" value="automotive"/>
<arg name="ptp_transport_type" value="L2"/>
<arg name="ptp_switch_type" value="NON_TSN"/>
<arg name="ptp_domain" value="5"/>
<arg name="ptp_domain" value="0"/>
<arg name="launch_driver" value="$(var launch_driver)"/>
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
<arg name="container_name" value="$(var pointcloud_container_name)"/>
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