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chore: tune
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@0x126
0x126 committed Feb 19, 2024
1 parent a9c7a71 commit 0eed39d
Showing 1 changed file with 8 additions and 8 deletions.
16 changes: 8 additions & 8 deletions aip_x2_launch/launch/lidar.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -23,7 +23,7 @@
<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="11" />
<arg name="horizontal_ring_id" value="12" />
<arg name="return_mode" value="Strongest" />
<arg name="min_azimuth_deg" value="135.0"/>
<arg name="max_azimuth_deg" value="225.0"/>
Expand All @@ -46,7 +46,7 @@
<arg name="distance_range" value="[0.1, 20.0]"/>
<arg name="blockage_range" value="[90.0, 270.0]"/>
<arg name="vertical_bins" value ="64" />
<arg name="horizontal_ring_id" value="32" />
<arg name="horizontal_ring_id" value="40" />
<arg name="return_mode" value="First" />
<arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/front_upper.csv" />
<arg name="launch_driver" value="$(var launch_driver)" />
Expand All @@ -68,7 +68,7 @@
<arg name="distance_range" value="[0.5, 200.0]"/>
<arg name="blockage_range" value="[90.0, 305.0]"/>
<arg name="vertical_bins" value ="40" />
<arg name="horizontal_ring_id" value="11" />
<arg name="horizontal_ring_id" value="12" />
<arg name="min_azimuth_deg" value="225.0"/>
<arg name="max_azimuth_deg" value="315.0"/>
<arg name="return_mode" value="Dual" />
Expand All @@ -92,7 +92,7 @@
<arg name="distance_range" value="[0.1, 20.0]"/>
<arg name="blockage_range" value="[120.0, 240.0]"/>
<arg name="vertical_bins" value ="64" />
<arg name="horizontal_ring_id" value="57" />
<arg name="horizontal_ring_id" value="8" />
<arg name="return_mode" value="First" />
<arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/left_lower.csv" />
<arg name="launch_driver" value="$(var launch_driver)" />
Expand All @@ -114,7 +114,7 @@
<arg name="distance_range" value="[0.5, 200.0]"/>
<arg name="blockage_range" value="[55.0, 270.0]"/>
<arg name="vertical_bins" value ="40" />
<arg name="horizontal_ring_id" value="11" />
<arg name="horizontal_ring_id" value="12" />
<arg name="min_azimuth_deg" value="45.0"/>
<arg name="max_azimuth_deg" value="135.0"/>
<arg name="return_mode" value="Dual" />
Expand All @@ -138,7 +138,7 @@
<arg name="distance_range" value="[0.1, 20.0]"/>
<arg name="blockage_range" value="[150.0, 240.0]"/>
<arg name="vertical_bins" value ="64" />
<arg name="horizontal_ring_id" value="57" />
<arg name="horizontal_ring_id" value="8" />
<arg name="return_mode" value="First" />
<arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/right_lower.csv" />
<arg name="launch_driver" value="$(var launch_driver)" />
Expand All @@ -159,7 +159,7 @@
<arg name="angle_range" value="[90.0, 270.0]"/>
<arg name="distance_range" value="[0.5, 200.0]"/>
<arg name="blockage_range" value="[90.0, 270.0]"/>
<arg name="vertical_bins" value ="40" />
<arg name="vertical_bins" value ="32" />
<arg name="horizontal_ring_id" value="11" />
<arg name="min_azimuth_deg" value="135.0"/>
<arg name="max_azimuth_deg" value="225.0"/>
Expand All @@ -184,7 +184,7 @@
<arg name="distance_range" value="[0.1, 20.0]"/>
<arg name="blockage_range" value="[90.0, 270.0]"/>
<arg name="vertical_bins" value ="64" />
<arg name="horizontal_ring_id" value="32" />
<arg name="horizontal_ring_id" value="40" />
<arg name="return_mode" value="First" />
<arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/rear_upper.csv" />
<arg name="launch_driver" value="$(var launch_driver)" />
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