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use hesai_pandar for lidar driver
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@kotaro-hihara
kotaro-hihara committed Aug 7, 2024
1 parent 7a31c4b commit 12aeaf0
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Showing 2 changed files with 355 additions and 125 deletions.
201 changes: 76 additions & 125 deletions aip_x2_launch/launch/lidar.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -13,62 +13,49 @@
<push-ros-namespace namespace="lidar" />
<group>
<push-ros-namespace namespace="front_lower" />
<include file="$(find-pkg-share aip_x2_launch)/launch/nebula_node_container.launch.py">
<arg name="sensor_model" value="Pandar40P" />
<include file="$(find-pkg-share aip_x2_launch)/launch/pandar_node_container.launch.py">
<arg name="model" value="Pandar40P" />
<arg name="frame_id" value="pandar_40p_front" />
<arg name="sensor_ip" value="192.168.110.201" />
<arg name="data_port" value="2321" />
<arg name="gnss_port" value="10121" />
<arg name="scan_phase" value="280.0" />
<arg name="cloud_min_angle" value="90"/>
<arg name="cloud_max_angle" value="270"/>
<arg name="min_range" value="0.5"/>
<arg name="max_range" value="200.0"/>
<arg name="device_ip" value="192.168.110.201" />
<arg name="lidar_port" value="2321" />
<arg name="gps_port" value="10121" />
<arg name="scan_phase" value="270.0" />
<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="horizontal_ring_id" value="12" />
<arg name="return_mode" value="Dual" />
<arg name="ptp_profile" value="1588v2"/>
<arg name="ptp_transport_type" value="UDP"/>
<arg name="ptp_switch_type" value="NON_TSN"/>
<arg name="ptp_domain" value="0"/>
<arg name="min_azimuth_deg" value="135.0"/>
<arg name="max_azimuth_deg" value="225.0"/>
<arg name="is_channel_order_top2down" value="true"/>
<arg name="horizontal_resolution" value="0.4"/>
<arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
<arg name="calibration_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/front_lower.csv" />
<arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/front_lower.csv" />
<arg name="launch_driver" value="$(var launch_driver)" />
<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>

<group>
<push-ros-namespace namespace="front_upper" />
<include file="$(find-pkg-share aip_x2_launch)/launch/nebula_node_container.launch.py">
<arg name="sensor_model" value="PandarQT64" />
<include file="$(find-pkg-share aip_x2_launch)/launch/pandar_node_container.launch.py">
<arg name="model" value="PandarQT" />
<arg name="frame_id" value="pandar_qt_front" />
<arg name="sensor_ip" value="192.168.120.211" />
<arg name="data_port" value="2331" />
<arg name="gnss_port" value="10131" />
<arg name="scan_phase" value="310.0" />
<arg name="cloud_min_angle" value="120"/>
<arg name="cloud_max_angle" value="300"/>
<arg name="min_range" value="0.1"/>
<arg name="max_range" value="20.0"/>
<arg name="device_ip" value="192.168.120.211" />
<arg name="lidar_port" value="2331" />
<arg name="gps_port" value="10131" />
<arg name="scan_phase" value="300.0" />
<arg name="angle_range" value="[120.0, 300.0]"/>
<arg name="distance_range" value="[0.1, 20.0]"/>
<arg name="blockage_range" value="[120.0, 300.0]"/>
<arg name="vertical_bins" value ="64" />
<arg name="horizontal_ring_id" value="40" />
<arg name="return_mode" value="First" />
<arg name="ptp_profile" value="1588v2"/>
<arg name="ptp_transport_type" value="UDP"/>
<arg name="ptp_switch_type" value="NON_TSN"/>
<arg name="ptp_domain" value="0"/>
<arg name="is_channel_order_top2down" value="false"/>
<arg name="horizontal_resolution" value="0.6"/>
<arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
<arg name="calibration_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/front_upper.csv" />
<arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/front_upper.csv" />
<arg name="launch_driver" value="$(var launch_driver)" />
<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)" />
Expand All @@ -77,31 +64,25 @@

<group>
<push-ros-namespace namespace="left_upper" />
<include file="$(find-pkg-share aip_x2_launch)/launch/nebula_node_container.launch.py">
<arg name="sensor_model" value="Pandar40P" />
<include file="$(find-pkg-share aip_x2_launch)/launch/pandar_node_container.launch.py">
<arg name="model" value="Pandar40P" />
<arg name="frame_id" value="pandar_40p_left" />
<arg name="sensor_ip" value="192.168.110.202" />
<arg name="data_port" value="2322" />
<arg name="gnss_port" value="10122" />
<arg name="scan_phase" value="315.0" />
<arg name="cloud_min_angle" value="90"/>
<arg name="cloud_max_angle" value="305"/>
<arg name="min_range" value="0.5"/>
<arg name="max_range" value="200.0"/>
<arg name="device_ip" value="192.168.110.202" />
<arg name="lidar_port" value="2322" />
<arg name="gps_port" value="10122" />
<arg name="scan_phase" value="305.0" />
<arg name="angle_range" value="[90.0, 305.0]"/>
<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="12" />
<arg name="return_mode" value="Dual" />
<arg name="ptp_profile" value="1588v2"/>
<arg name="ptp_transport_type" value="UDP"/>
<arg name="ptp_switch_type" value="NON_TSN"/>
<arg name="ptp_domain" value="0"/>
<arg name="min_azimuth_deg" value="225.0"/>
<arg name="max_azimuth_deg" value="315.0"/>
<arg name="is_channel_order_top2down" value="true"/>
<arg name="horizontal_resolution" value="0.4"/>
<arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
<arg name="calibration_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/left_upper.csv" />
<arg name="return_mode" value="Dual" />
<arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/left_upper.csv" />
<arg name="launch_driver" value="$(var launch_driver)" />
<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)" />
Expand All @@ -110,29 +91,23 @@

<group>
<push-ros-namespace namespace="left_lower" />
<include file="$(find-pkg-share aip_x2_launch)/launch/nebula_node_container.launch.py">
<arg name="sensor_model" value="PandarQT64" />
<include file="$(find-pkg-share aip_x2_launch)/launch/pandar_node_container.launch.py">
<arg name="model" value="PandarQT" />
<arg name="frame_id" value="pandar_qt_left" />
<arg name="sensor_ip" value="192.168.120.212" />
<arg name="data_port" value="2332" />
<arg name="gnss_port" value="10132" />
<arg name="scan_phase" value="280.0" />
<arg name="cloud_min_angle" value="90"/>
<arg name="cloud_max_angle" value="270"/>
<arg name="min_range" value="0.1"/>
<arg name="max_range" value="20.0"/>
<arg name="device_ip" value="192.168.120.212" />
<arg name="lidar_port" value="2332" />
<arg name="gps_port" value="10132" />
<arg name="scan_phase" value="270.0" />
<arg name="angle_range" value="[90.0, 270.0]"/>
<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="24" />
<arg name="return_mode" value="First" />
<arg name="ptp_profile" value="1588v2"/>
<arg name="ptp_transport_type" value="UDP"/>
<arg name="ptp_switch_type" value="NON_TSN"/>
<arg name="ptp_domain" value="0"/>
<arg name="is_channel_order_top2down" value="false"/>
<arg name="horizontal_resolution" value="0.6"/>
<arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
<arg name="calibration_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/left_lower.csv" />
<arg name="return_mode" value="First" />
<arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/left_lower.csv" />
<arg name="launch_driver" value="$(var launch_driver)" />
<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)" />
Expand All @@ -141,31 +116,25 @@

<group>
<push-ros-namespace namespace="right_upper" />
<include file="$(find-pkg-share aip_x2_launch)/launch/nebula_node_container.launch.py">
<arg name="sensor_model" value="Pandar40P" />
<include file="$(find-pkg-share aip_x2_launch)/launch/pandar_node_container.launch.py">
<arg name="model" value="Pandar40P" />
<arg name="frame_id" value="pandar_40p_right" />
<arg name="sensor_ip" value="192.168.120.203" />
<arg name="data_port" value="2323" />
<arg name="gnss_port" value="10121" />
<arg name="device_ip" value="192.168.120.203" />
<arg name="lidar_port" value="2323" />
<arg name="gps_port" value="10123" />
<arg name="scan_phase" value="270.0" />
<arg name="cloud_min_angle" value="55"/>
<arg name="cloud_max_angle" value="270"/>
<arg name="min_range" value="0.5"/>
<arg name="max_range" value="200.0"/>
<arg name="angle_range" value="[55.0, 270.0]"/>
<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="12" />
<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"/>
<arg name="ptp_domain" value="0"/>
<arg name="min_azimuth_deg" value="45.0"/>
<arg name="max_azimuth_deg" value="135.0"/>
<arg name="is_channel_order_top2down" value="true"/>
<arg name="horizontal_resolution" value="0.4"/>
<arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
<arg name="calibration_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/right_upper.csv" />
<arg name="return_mode" value="Strongest" />
<arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/right_upper.csv" />
<arg name="launch_driver" value="$(var launch_driver)" />
<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)" />
Expand All @@ -174,29 +143,23 @@

<group>
<push-ros-namespace namespace="right_lower" />
<include file="$(find-pkg-share aip_x2_launch)/launch/nebula_node_container.launch.py">
<arg name="sensor_model" value="PandarQT64" />
<include file="$(find-pkg-share aip_x2_launch)/launch/pandar_node_container.launch.py">
<arg name="model" value="PandarQT" />
<arg name="frame_id" value="pandar_qt_right" />
<arg name="sensor_ip" value="192.168.120.213" />
<arg name="data_port" value="2333" />
<arg name="gnss_port" value="10133" />
<arg name="device_ip" value="192.168.120.213" />
<arg name="lidar_port" value="2333" />
<arg name="gps_port" value="10133" />
<arg name="scan_phase" value="270.0" />
<arg name="cloud_min_angle" value="90"/>
<arg name="cloud_max_angle" value="270"/>
<arg name="min_range" value="0.1"/>
<arg name="max_range" value="20.0"/>
<arg name="angle_range" value="[90.0, 270.0]"/>
<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="24" />
<arg name="return_mode" value="First" />
<arg name="ptp_profile" value="1588v2"/>
<arg name="ptp_transport_type" value="UDP"/>
<arg name="ptp_switch_type" value="NON_TSN"/>
<arg name="ptp_domain" value="0"/>
<arg name="is_channel_order_top2down" value="false"/>
<arg name="horizontal_resolution" value="0.6"/>
<arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
<arg name="calibration_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/right_lower.csv" />
<arg name="return_mode" value="First" />
<arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/right_lower.csv" />
<arg name="launch_driver" value="$(var launch_driver)" />
<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)" />
Expand All @@ -205,31 +168,25 @@

<group>
<push-ros-namespace namespace="rear_lower" />
<include file="$(find-pkg-share aip_x2_launch)/launch/nebula_node_container.launch.py">
<arg name="sensor_model" value="Pandar40P" />
<include file="$(find-pkg-share aip_x2_launch)/launch/pandar_node_container.launch.py">
<arg name="model" value="Pandar40P" />
<arg name="frame_id" value="pandar_40p_rear" />
<arg name="sensor_ip" value="192.168.110.204" />
<arg name="data_port" value="2324" />
<arg name="gnss_port" value="10124" />
<arg name="device_ip" value="192.168.110.204" />
<arg name="lidar_port" value="2324" />
<arg name="gps_port" value="10124" />
<arg name="scan_phase" value="180.0" />
<arg name="cloud_min_angle" value="90"/>
<arg name="cloud_max_angle" value="270"/>
<arg name="min_range" value="0.5"/>
<arg name="max_range" value="200.0"/>
<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="horizontal_ring_id" value="12" />
<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"/>
<arg name="ptp_domain" value="0"/>
<arg name="min_azimuth_deg" value="135.0"/>
<arg name="max_azimuth_deg" value="225.0"/>
<arg name="is_channel_order_top2down" value="true"/>
<arg name="horizontal_resolution" value="0.4"/>
<arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
<arg name="calibration_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/rear_lower.csv" />
<arg name="return_mode" value="Strongest" />
<arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/rear_lower.csv" />
<arg name="launch_driver" value="$(var launch_driver)" />
<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)" />
Expand All @@ -238,29 +195,23 @@

<group>
<push-ros-namespace namespace="rear_upper" />
<include file="$(find-pkg-share aip_x2_launch)/launch/nebula_node_container.launch.py">
<arg name="sensor_model" value="PandarQT64" />
<include file="$(find-pkg-share aip_x2_launch)/launch/pandar_node_container.launch.py">
<arg name="model" value="PandarQT" />
<arg name="frame_id" value="pandar_qt_rear" />
<arg name="sensor_ip" value="192.168.120.214" />
<arg name="data_port" value="2334" />
<arg name="gnss_port" value="10134" />
<arg name="scan_phase" value="200.0" />
<arg name="cloud_min_angle" value="110"/>
<arg name="cloud_max_angle" value="290"/>
<arg name="min_range" value="0.1"/>
<arg name="max_range" value="20.0"/>
<arg name="device_ip" value="192.168.120.214" />
<arg name="lidar_port" value="2334" />
<arg name="gps_port" value="10134" />
<arg name="scan_phase" value="180.0" />
<arg name="angle_range" value="[110.0, 290.0]"/>
<arg name="distance_range" value="[0.1, 20.0]"/>
<arg name="blockage_range" value="[110.0, 290.0]"/>
<arg name="vertical_bins" value ="64" />
<arg name="horizontal_ring_id" value="40" />
<arg name="return_mode" value="First" />
<arg name="ptp_profile" value="1588v2"/>
<arg name="ptp_transport_type" value="UDP"/>
<arg name="ptp_switch_type" value="NON_TSN"/>
<arg name="ptp_domain" value="0"/>
<arg name="is_channel_order_top2down" value="false"/>
<arg name="horizontal_resolution" value="0.6"/>
<arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
<arg name="calibration_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/rear_upper.csv" />
<arg name="return_mode" value="First" />
<arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/rear_upper.csv" />
<arg name="launch_driver" value="$(var launch_driver)" />
<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)" />
Expand All @@ -276,4 +227,4 @@
</include>

</group>
</launch>
</launch>
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