set param for visibility diag

tier4 · Jul 30, 2024 · 0ddc0df · 0ddc0df
1 parent a66ffa0
commit 0ddc0df
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Showing 3 changed files with 8 additions and 5 deletions.
diff --git a/aip_x2_launch/config/dual_return_filter.param.yaml b/aip_x2_launch/config/dual_return_filter.param.yaml
@@ -2,9 +2,11 @@
   ros__parameters:
     roi_mode: "Fixed_azimuth_ROI" # description="options: `No_ROI`, `Fixed_xyz_ROI` or `Fixed_azimuth_ROI`"/>
     weak_first_local_noise_threshold: 2 # description="for No_ROI roi_mode, recommended value is 10" />
-    visibility_error_threshold: 0.5
-    visibility_warn_threshold: 0.9
-    max_distance: 5.0
+    visibility_error_threshold: 0.95
+    visibility_warn_threshold: 0.97
+    min_azimuth_deg: 100.0
+    max_azimuth_deg: 260.0
+    max_distance: 10.0
     x_max: 18.0
     x_min: -12.0
     y_max: 2.0

diff --git a/aip_x2_launch/launch/lidar.launch.xml b/aip_x2_launch/launch/lidar.launch.xml
@@ -155,7 +155,7 @@
         <arg name="blockage_range" value="[55.0, 270.0]"/>
         <arg name="vertical_bins" value ="40" />
         <arg name="horizontal_ring_id" value="12" />
-        <arg name="return_mode" value="Dual" />
+        <arg name="return_mode" value="Strongest" />
         <arg name="ptp_profile" value="1588v2"/>
         <arg name="ptp_transport_type" value="UDP"/>
         <arg name="ptp_switch_type" value="NON_TSN"/>
@@ -219,7 +219,7 @@
         <arg name="blockage_range" value="[90.0, 270.0]"/>
         <arg name="vertical_bins" value ="40" />
         <arg name="horizontal_ring_id" value="12" />
-        <arg name="return_mode" value="Dual" />
+        <arg name="return_mode" value="Strongest" />
         <arg name="ptp_profile" value="1588v2"/>
         <arg name="ptp_transport_type" value="UDP"/>
         <arg name="ptp_switch_type" value="NON_TSN"/>

diff --git a/aip_x2_launch/launch/nebula_node_container.launch.py b/aip_x2_launch/launch/nebula_node_container.launch.py
@@ -443,6 +443,7 @@ def add_launch_arg(name: str, default_value=None, description=None):
     add_launch_arg("min_azimuth_deg", "135.0")
     add_launch_arg("max_azimuth_deg", "225.0")
     add_launch_arg("output_as_sensor_frame", "True")
+    add_launch_arg("dual_return_filter_param_file")
 
     set_container_executable = SetLaunchConfiguration(
         "container_executable",