From 0eed39dee534ecc3c30fd3fc50718d2f63564499 Mon Sep 17 00:00:00 2001
From: Shinnosuke Hirakawa <shinnosuke.hirakawa@tier4.jp>
Date: Mon, 19 Feb 2024 15:07:29 +0900
Subject: [PATCH] chore: tune

---
 aip_x2_launch/launch/lidar.launch.xml | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/aip_x2_launch/launch/lidar.launch.xml b/aip_x2_launch/launch/lidar.launch.xml
index a2938f3e..d3a1c96f 100644
--- a/aip_x2_launch/launch/lidar.launch.xml
+++ b/aip_x2_launch/launch/lidar.launch.xml
@@ -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"/>
@@ -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="$(var launch_driver)" />
@@ -68,7 +68,7 @@
         <arg name="distance_range" value="[0.5, 200.0]"/>
         <arg name="blockage_range" value="[90.0, 305.0]"/>
         <arg name="vertical_bins" value ="40" />
-        <arg name="horizontal_ring_id" value="11" />
+        <arg name="horizontal_ring_id" value="12" />
         <arg name="min_azimuth_deg" value="225.0"/>
         <arg name="max_azimuth_deg" value="315.0"/>
         <arg name="return_mode" value="Dual" />
@@ -92,7 +92,7 @@
         <arg name="distance_range" value="[0.1, 20.0]"/>
         <arg name="blockage_range" value="[120.0, 240.0]"/>
         <arg name="vertical_bins" value ="64" />
-        <arg name="horizontal_ring_id" value="57" />
+        <arg name="horizontal_ring_id" value="8" />
         <arg name="return_mode" value="First" />
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/left_lower.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />
@@ -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" />
@@ -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="$(var launch_driver)" />
@@ -159,7 +159,7 @@
         <arg name="angle_range" value="[90.0, 270.0]"/>
         <arg name="distance_range" value="[0.5, 200.0]"/>
         <arg name="blockage_range" value="[90.0, 270.0]"/>
-        <arg name="vertical_bins" value ="40" />
+        <arg name="vertical_bins" value ="32" />
         <arg name="horizontal_ring_id" value="11" />
         <arg name="min_azimuth_deg" value="135.0"/>
         <arg name="max_azimuth_deg" value="225.0"/>
@@ -184,7 +184,7 @@
         <arg name="distance_range" value="[0.1, 20.0]"/>
         <arg name="blockage_range" value="[90.0, 270.0]"/>
         <arg name="vertical_bins" value ="64" />
-        <arg name="horizontal_ring_id" value="32" />
+        <arg name="horizontal_ring_id" value="40" />
         <arg name="return_mode" value="First" />
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/rear_upper.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />