add ptp param

Signed-off-by: yuki.takagi@car_8 <[email protected]>
tier4 · Feb 22, 2024 · 106edb7 · 106edb7
1 parent 2e0edd2
commit 106edb7
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diff --git a/common_sensor_launch/launch/hesai_OT128.launch.xml b/common_sensor_launch/launch/hesai_OT128.launch.xml
@@ -32,5 +32,7 @@
     <arg name="use_intra_process" value="true"/>
     <arg name="use_multithread" value="true"/>
     <arg name="container_name" value="$(var container_name)"/>
+    <arg name="ptp_profile" value="802.1as"/>
+    <arg name="ptp_transport_type" value="L2"/>
   </include>
 </launch>
diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py
@@ -234,6 +234,8 @@ def create_parameter_dict(*args):
                     "packet_mtu_size",
                     "dual_return_distance_threshold",
                     "setup_sensor",
+                    "ptp_profile",
+                    "ptp_transport_type",
                 ),
             }
         ],
@@ -283,6 +285,9 @@ def add_launch_arg(name: str, default_value=None, description=None):
     add_launch_arg("use_multithread", "False", "use multithread")
     add_launch_arg("use_intra_process", "False", "use ROS 2 component container communication")
     add_launch_arg("container_name", "nebula_node_container")
+    add_launch_arg("ptp_profile", "1588v2")
+    add_launch_arg("ptp_transport_type", "L2")
+
 
     set_container_executable = SetLaunchConfiguration(
         "container_executable",