From 0e704c65e94c1ef9339a6c712f6e65d231f48fcb Mon Sep 17 00:00:00 2001
From: Tomohito Ando <tomohito.ando@tier4.jp>
Date: Tue, 25 Jun 2024 13:20:22 +0900
Subject: [PATCH] update lidar launch

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>
---
 aip_x2_launch/launch/hesai_QT128.launch.xml |  23 ++++
 aip_x2_launch/launch/lidar.launch.xml       | 127 ++++++++++++++++----
 2 files changed, 125 insertions(+), 25 deletions(-)

diff --git a/aip_x2_launch/launch/hesai_QT128.launch.xml b/aip_x2_launch/launch/hesai_QT128.launch.xml
index bebb9de7..ccd227fb 100644
--- a/aip_x2_launch/launch/hesai_QT128.launch.xml
+++ b/aip_x2_launch/launch/hesai_QT128.launch.xml
@@ -20,6 +20,18 @@
   <arg name="vehicle_mirror_param_file"/>
   <arg name="container_name" default="hesai_node_container"/>
 
+  <arg name="distance_range" default="[0.5, 200.0]"/>
+  <arg name="blockage_range" default="[90.0, 270.0]"/>
+  <arg name="vertical_bins" default ="40" />
+  <arg name="horizontal_ring_id" default="12" />
+  <arg name="is_channel_order_top2down" default="true"/>
+  <arg name="horizontal_resolution" default="0.4"/>
+  <arg name="enable_blockage_diag" default="$(var enable_blockage_diag)"/>
+  <arg name="calibration" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/front_lower.csv" />
+  <arg name="dual_return_filter_param_file" default="$(var dual_return_filter_param_file)" />
+  <arg name="vehicle_mirror_param_file" default="$(var vehicle_mirror_param_file)" />
+  <arg name="blockage_diagnostics_param_file" default="$(find-pkg-share aip_x2_launch)/config/blockage_diagnostics_param_file.yaml" />
+
   <include file="$(find-pkg-share aip_x2_launch)/launch/nebula_node_container.launch.py">
     <arg name="launch_driver" value="$(var launch_driver)"/>
     <arg name="sensor_model" value="$(var model)"/>
@@ -41,5 +53,16 @@
     <arg name="use_intra_process" value="true"/>
     <arg name="use_multithread" value="true"/>
     <arg name="container_name" value="$(var container_name)"/>
+
+    <arg name="distance_range" value="$(var distance_range)"/>
+    <arg name="blockage_range" value="$(var blockage_range)"/>
+    <arg name="vertical_bins" value ="$(var vertical_bins)"/>
+    <arg name="horizontal_ring_id" value="$(var horizontal_ring_id)" />
+    <arg name="is_channel_order_top2down" value="$(var is_channel_order_top2down)"/>
+    <arg name="horizontal_resolution" value="$(var horizontal_resolution)"/>
+    <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
+    <arg name="calibration" value="$(var calibration)"/>
+    <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)"/>
+    <arg name="blockage_diagnostics_param_file" value="$(var blockage_diagnostics_param_file)"/>
   </include>
 </launch>
diff --git a/aip_x2_launch/launch/lidar.launch.xml b/aip_x2_launch/launch/lidar.launch.xml
index af460998..d58f6045 100644
--- a/aip_x2_launch/launch/lidar.launch.xml
+++ b/aip_x2_launch/launch/lidar.launch.xml
@@ -11,7 +11,7 @@
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
 
   <arg name="dual_return_filter_param_file" default="$(find-pkg-share aip_x2_launch)/config/dual_return_filter.param.yaml"/>
-  <arg name="enable_blockage_diag" default="true"/>
+  <arg name="enable_blockage_diag" default="false"/>
 
   <group>
     <push-ros-namespace namespace="lidar" />
@@ -34,9 +34,9 @@
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2321"/>
         <arg name="scan_phase" value="90.0"/>
-        <arg name="cloud_min_angle" value="90"/>
-        <arg name="cloud_max_angle" value="270"/>
-        <arg name="return_mode" value="Dual"/>
+        <arg name="cloud_min_angle" value="350"/>
+        <arg name="cloud_max_angle" value="280"/>
+        <arg name="return_mode" value="LastStrongest"/>
         <arg name="ptp_switch_type" value="NON_TSN"/>
         <arg name="ptp_domain" value="1"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
@@ -65,14 +65,25 @@
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2322"/>
         <arg name="scan_phase" value="0.0"/>
-        <arg name="cloud_min_angle" value="90"/>
-        <arg name="cloud_max_angle" value="270"/>
-        <arg name="return_mode" value="Dual"/>
+        <arg name="cloud_min_angle" value="78"/>
+        <arg name="cloud_max_angle" value="284"/>
+        <arg name="return_mode" value="LastStrongest"/>
         <arg name="ptp_switch_type" value="NON_TSN"/>
         <arg name="ptp_domain" value="2"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="pointcloud_container"/>
+
+        <arg name="distance_range" value="[0.5, 200.0]"/>
+        <arg name="blockage_range" value="[90.0, 270.0]"/>
+        <arg name="vertical_bins" value ="40" />
+        <arg name="horizontal_ring_id" value="12" />
+        <arg name="is_channel_order_top2down" value="true"/>
+        <arg name="horizontal_resolution" value="0.4"/>
+        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
+        <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/front_lower.csv" />
+        <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
+        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
       </include>
     </group>
 
@@ -85,9 +96,9 @@
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2376"/>
         <arg name="scan_phase" value="90.0"/>
-        <arg name="cloud_min_angle" value="90"/>
-        <arg name="cloud_max_angle" value="270"/>
-        <arg name="return_mode" value="Strongest"/>
+        <arg name="cloud_min_angle" value="75"/>
+        <arg name="cloud_max_angle" value="285"/>
+        <arg name="return_mode" value="LastStrongest"/>
         <arg name="ptp_profile" value="1588v2"/>
         <arg name="ptp_transport_type" value="L2"/>
         <arg name="ptp_switch_type" value="NON_TSN"/>
@@ -95,6 +106,17 @@
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="pointcloud_container"/>
+
+        <arg name="distance_range" value="[0.5, 200.0]"/>
+        <arg name="blockage_range" value="[90.0, 270.0]"/>
+        <arg name="vertical_bins" value ="40" />
+        <arg name="horizontal_ring_id" value="12" />
+        <arg name="is_channel_order_top2down" value="true"/>
+        <arg name="horizontal_resolution" value="0.4"/>
+        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
+        <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/front_lower.csv" />
+        <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
+        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
       </include>
     </group>
 
@@ -107,9 +129,9 @@
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2377"/>
         <arg name="scan_phase" value="0.0"/>
-        <arg name="cloud_min_angle" value="90"/>
-        <arg name="cloud_max_angle" value="270"/>
-        <arg name="return_mode" value="Strongest"/>
+        <arg name="cloud_min_angle" value="75"/>
+        <arg name="cloud_max_angle" value="285"/>
+        <arg name="return_mode" value="LastStrongest"/>
         <arg name="ptp_profile" value="1588v2"/>
         <arg name="ptp_transport_type" value="L2"/>
         <arg name="ptp_switch_type" value="NON_TSN"/>
@@ -117,6 +139,17 @@
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="pointcloud_container"/>
+
+        <arg name="distance_range" value="[0.5, 200.0]"/>
+        <arg name="blockage_range" value="[90.0, 270.0]"/>
+        <arg name="vertical_bins" value ="40" />
+        <arg name="horizontal_ring_id" value="12" />
+        <arg name="is_channel_order_top2down" value="true"/>
+        <arg name="horizontal_resolution" value="0.4"/>
+        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
+        <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/front_lower.csv" />
+        <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
+        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
       </include>
     </group>
 
@@ -130,14 +163,25 @@
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2323"/>
         <arg name="scan_phase" value="270.0"/>
-        <arg name="cloud_min_angle" value="90"/>
-        <arg name="cloud_max_angle" value="270"/>
-        <arg name="return_mode" value="Dual"/>
+        <arg name="cloud_min_angle" value="80"/>
+        <arg name="cloud_max_angle" value="10"/>
+        <arg name="return_mode" value="LastStrongest"/>
         <arg name="ptp_switch_type" value="NON_TSN"/>
         <arg name="ptp_domain" value="3"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
+
+        <arg name="distance_range" value="[0.5, 200.0]"/>
+        <arg name="blockage_range" value="[90.0, 270.0]"/>
+        <arg name="vertical_bins" value ="40" />
+        <arg name="horizontal_ring_id" value="12" />
+        <arg name="is_channel_order_top2down" value="true"/>
+        <arg name="horizontal_resolution" value="0.4"/>
+        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
+        <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/front_lower.csv" />
+        <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
+        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
       </include>
     </group>
 
@@ -150,14 +194,25 @@
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2324"/>
         <arg name="scan_phase" value="180.0"/>
-        <arg name="cloud_min_angle" value="90"/>
-        <arg name="cloud_max_angle" value="270"/>
-        <arg name="return_mode" value="Dual"/>
+        <arg name="cloud_min_angle" value="87"/>
+        <arg name="cloud_max_angle" value="287"/>
+        <arg name="return_mode" value="LastStrongest"/>
         <arg name="ptp_switch_type" value="NON_TSN"/>
         <arg name="ptp_domain" value="4"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
+
+        <arg name="distance_range" value="[0.5, 200.0]"/>
+        <arg name="blockage_range" value="[90.0, 270.0]"/>
+        <arg name="vertical_bins" value ="40" />
+        <arg name="horizontal_ring_id" value="12" />
+        <arg name="is_channel_order_top2down" value="true"/>
+        <arg name="horizontal_resolution" value="0.4"/>
+        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
+        <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/front_lower.csv" />
+        <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
+        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
       </include>
     </group>
 
@@ -170,9 +225,9 @@
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2378"/>
         <arg name="scan_phase" value="270.0"/>
-        <arg name="cloud_min_angle" value="90"/>
-        <arg name="cloud_max_angle" value="270"/>
-        <arg name="return_mode" value="Strongest"/>
+        <arg name="cloud_min_angle" value="75"/>
+        <arg name="cloud_max_angle" value="285"/>
+        <arg name="return_mode" value="LastStrongest"/>
         <arg name="ptp_profile" value="1588v2"/>
         <arg name="ptp_transport_type" value="L2"/>
         <arg name="ptp_switch_type" value="NON_TSN"/>
@@ -180,6 +235,17 @@
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
+
+        <arg name="distance_range" value="[0.5, 200.0]"/>
+        <arg name="blockage_range" value="[90.0, 270.0]"/>
+        <arg name="vertical_bins" value ="40" />
+        <arg name="horizontal_ring_id" value="12" />
+        <arg name="is_channel_order_top2down" value="true"/>
+        <arg name="horizontal_resolution" value="0.4"/>
+        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
+        <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/front_lower.csv" />
+        <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
+        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
       </include>
     </group>
 
@@ -192,9 +258,9 @@
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2379"/>
         <arg name="scan_phase" value="180.0"/>
-        <arg name="cloud_min_angle" value="90"/>
-        <arg name="cloud_max_angle" value="270"/>
-        <arg name="return_mode" value="Strongest"/>
+        <arg name="cloud_min_angle" value="75"/>
+        <arg name="cloud_max_angle" value="285"/>
+        <arg name="return_mode" value="LastStrongest"/>
         <arg name="ptp_profile" value="1588v2"/>
         <arg name="ptp_transport_type" value="L2"/>
         <arg name="ptp_switch_type" value="NON_TSN"/>
@@ -202,6 +268,17 @@
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
+
+        <arg name="distance_range" value="[0.5, 200.0]"/>
+        <arg name="blockage_range" value="[90.0, 270.0]"/>
+        <arg name="vertical_bins" value ="40" />
+        <arg name="horizontal_ring_id" value="12" />
+        <arg name="is_channel_order_top2down" value="true"/>
+        <arg name="horizontal_resolution" value="0.4"/>
+        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
+        <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/front_lower.csv" />
+        <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
+        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
       </include>
     </group>