Skip to content

Commit

Permalink
fix: rename aip_x2 to aip_x2_gen2 (#271)
Browse files Browse the repository at this point in the history
Signed-off-by: Tomohito Ando <[email protected]>
  • Loading branch information
TomohitoAndo committed Aug 31, 2024
1 parent d0c36fd commit 133e761
Show file tree
Hide file tree
Showing 8 changed files with 33 additions and 33 deletions.
2 changes: 1 addition & 1 deletion aip_x2_gen2_launch/launch/gnss.launch.xml
Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@

<!-- Septentrio Mosaic Driver -->
<node pkg="septentrio_gnss_driver" name="septentrio" exec="septentrio_gnss_driver_node" if="$(var launch_driver)">
<param from="$(find-pkg-share aip_x2_launch)/config/mosaic_x5_rover.param.yaml"/>
<param from="$(find-pkg-share aip_x2_gen2_launch)/config/mosaic_x5_rover.param.yaml"/>
<remap from="navsatfix" to="~/nav_sat_fix"/>
<remap from="poscovgeodetic" to="~/poscovgeodetic"/>
<remap from="pvtgeodetic" to="~/pvtgeodetic"/>
Expand Down
6 changes: 3 additions & 3 deletions aip_x2_gen2_launch/launch/hesai_OT128.launch.xml
Original file line number Diff line number Diff line change
Expand Up @@ -26,12 +26,12 @@
<arg name="is_channel_order_top2down" default="true"/>
<arg name="horizontal_resolution" default="0.4"/>
<arg name="enable_blockage_diag" default="$(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="calibration" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/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="$(find-pkg-share aip_x2_launch)/config/blockage_diagnostics_param_file.yaml" />
<arg name="blockage_diagnostics_param_file" default="$(find-pkg-share aip_x2_gen2_launch)/config/blockage_diagnostics_param_file.yaml" />

<include file="$(find-pkg-share aip_x2_launch)/launch/nebula_node_container.launch.py">
<include file="$(find-pkg-share aip_x2_gen2_launch)/launch/nebula_node_container.launch.py">
<arg name="launch_driver" value="$(var launch_driver)"/>
<arg name="sensor_model" value="$(var model)"/>
<arg name="return_mode" value="$(var return_mode)"/>
Expand Down
6 changes: 3 additions & 3 deletions aip_x2_gen2_launch/launch/hesai_QT128.launch.xml
Original file line number Diff line number Diff line change
Expand Up @@ -27,12 +27,12 @@
<arg name="is_channel_order_top2down" default="true"/>
<arg name="horizontal_resolution" default="0.4"/>
<arg name="enable_blockage_diag" default="$(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="calibration" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/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="$(find-pkg-share aip_x2_launch)/config/blockage_diagnostics_param_file.yaml" />
<arg name="blockage_diagnostics_param_file" default="$(find-pkg-share aip_x2_gen2_launch)/config/blockage_diagnostics_param_file.yaml" />

<include file="$(find-pkg-share aip_x2_launch)/launch/nebula_node_container.launch.py">
<include file="$(find-pkg-share aip_x2_gen2_launch)/launch/nebula_node_container.launch.py">
<arg name="launch_driver" value="$(var launch_driver)"/>
<arg name="sensor_model" value="$(var model)"/>
<arg name="return_mode" value="$(var return_mode)"/>
Expand Down
2 changes: 1 addition & 1 deletion aip_x2_gen2_launch/launch/imu.launch.xml
Original file line number Diff line number Diff line change
Expand Up @@ -22,7 +22,7 @@
</group>

<arg name="imu_raw_name" default="tamagawa/imu_raw"/>
<arg name="imu_corrector_param_file" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/imu_corrector.param.yaml"/>
<arg name="imu_corrector_param_file" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/imu_corrector.param.yaml"/>
<include file="$(find-pkg-share imu_corrector)/launch/imu_corrector.launch.xml">
<arg name="input_topic" value="$(var imu_raw_name)"/>
<arg name="output_topic" value="imu_data"/>
Expand Down
36 changes: 18 additions & 18 deletions aip_x2_gen2_launch/launch/lidar.launch.xml
Original file line number Diff line number Diff line change
Expand Up @@ -10,13 +10,13 @@
<arg name="use_pointcloud_container" default="false" description="launch pointcloud container"/>
<arg name="pointcloud_container_name" default="pointcloud_container"/>

<arg name="dual_return_filter_param_file" default="$(find-pkg-share aip_x2_launch)/config/dual_return_filter.param.yaml"/>
<arg name="dual_return_filter_param_file" default="$(find-pkg-share aip_x2_gen2_launch)/config/dual_return_filter.param.yaml"/>
<arg name="enable_blockage_diag" default="false"/>

<group>
<push-ros-namespace namespace="lidar" />

<include file="$(find-pkg-share aip_x2_launch)/launch/pointcloud_preprocessor.launch.py">
<include file="$(find-pkg-share aip_x2_gen2_launch)/launch/pointcloud_preprocessor.launch.py">
<arg name="base_frame" value="base_link" />
<arg name="use_intra_process" value="true" />
<arg name="use_multithread" value="true" />
Expand All @@ -27,7 +27,7 @@
<!-- LiDARs connected to Main ECU -->
<group>
<push-ros-namespace namespace="rear_upper" />
<include file="$(find-pkg-share aip_x2_launch)/launch/hesai_OT128.launch.xml">
<include file="$(find-pkg-share aip_x2_gen2_launch)/launch/hesai_OT128.launch.xml">
<arg name="setup_sensor" value="$(var setup_sensor)"/>
<arg name="sensor_frame" value="rear_upper/lidar"/>
<arg name="sensor_ip" value="192.168.1.202"/>
Expand All @@ -50,15 +50,15 @@
<arg name="is_channel_order_top2down" value="true"/>
<arg name="horizontal_resolution" value="0.4"/>
<arg name="enable_blockage_diag" value="$(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="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/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>

<group>
<push-ros-namespace namespace="left_upper" />
<include file="$(find-pkg-share aip_x2_launch)/launch/hesai_OT128.launch.xml">
<include file="$(find-pkg-share aip_x2_gen2_launch)/launch/hesai_OT128.launch.xml">
<arg name="setup_sensor" value="$(var setup_sensor)"/>
<arg name="sensor_frame" value="left_upper/lidar"/>
<arg name="sensor_ip" value="192.168.1.203"/>
Expand All @@ -81,15 +81,15 @@
<arg name="is_channel_order_top2down" value="true"/>
<arg name="horizontal_resolution" value="0.4"/>
<arg name="enable_blockage_diag" value="$(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="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/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>

<group>
<push-ros-namespace namespace="rear_lower" />
<include file="$(find-pkg-share aip_x2_launch)/launch/hesai_QT128.launch.xml">
<include file="$(find-pkg-share aip_x2_gen2_launch)/launch/hesai_QT128.launch.xml">
<arg name="setup_sensor" value="$(var setup_sensor)"/>
<arg name="sensor_frame" value="rear_lower/lidar"/>
<arg name="sensor_ip" value="192.168.1.212"/>
Expand All @@ -114,15 +114,15 @@
<arg name="is_channel_order_top2down" value="true"/>
<arg name="horizontal_resolution" value="0.4"/>
<arg name="enable_blockage_diag" value="$(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="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/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>

<group>
<push-ros-namespace namespace="left_lower" />
<include file="$(find-pkg-share aip_x2_launch)/launch/hesai_QT128.launch.xml">
<include file="$(find-pkg-share aip_x2_gen2_launch)/launch/hesai_QT128.launch.xml">
<arg name="setup_sensor" value="$(var setup_sensor)"/>
<arg name="sensor_frame" value="left_lower/lidar"/>
<arg name="sensor_ip" value="192.168.1.213"/>
Expand All @@ -147,7 +147,7 @@
<arg name="is_channel_order_top2down" value="true"/>
<arg name="horizontal_resolution" value="0.4"/>
<arg name="enable_blockage_diag" value="$(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="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/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>
Expand All @@ -156,7 +156,7 @@
<!-- LiDARs connected to Sub ECU -->
<group>
<push-ros-namespace namespace="front_upper" />
<include file="$(find-pkg-share aip_x2_launch)/launch/hesai_OT128.launch.xml">
<include file="$(find-pkg-share aip_x2_gen2_launch)/launch/hesai_OT128.launch.xml">
<arg name="setup_sensor" value="$(var setup_sensor)"/>
<arg name="sensor_frame" value="front_upper/lidar"/>
<arg name="sensor_ip" value="192.168.1.204"/>
Expand All @@ -179,15 +179,15 @@
<arg name="is_channel_order_top2down" value="true"/>
<arg name="horizontal_resolution" value="0.4"/>
<arg name="enable_blockage_diag" value="$(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="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/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>

<group>
<push-ros-namespace namespace="right_upper" />
<include file="$(find-pkg-share aip_x2_launch)/launch/hesai_OT128.launch.xml">
<include file="$(find-pkg-share aip_x2_gen2_launch)/launch/hesai_OT128.launch.xml">
<arg name="setup_sensor" value="$(var setup_sensor)"/>
<arg name="sensor_frame" value="right_upper/lidar"/>
<arg name="sensor_ip" value="192.168.1.205"/>
Expand All @@ -210,15 +210,15 @@
<arg name="is_channel_order_top2down" value="true"/>
<arg name="horizontal_resolution" value="0.4"/>
<arg name="enable_blockage_diag" value="$(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="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/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>

<group>
<push-ros-namespace namespace="front_lower" />
<include file="$(find-pkg-share aip_x2_launch)/launch/hesai_QT128.launch.xml">
<include file="$(find-pkg-share aip_x2_gen2_launch)/launch/hesai_QT128.launch.xml">
<arg name="setup_sensor" value="$(var setup_sensor)"/>
<arg name="sensor_frame" value="front_lower/lidar"/>
<arg name="sensor_ip" value="192.168.1.214"/>
Expand All @@ -243,15 +243,15 @@
<arg name="is_channel_order_top2down" value="true"/>
<arg name="horizontal_resolution" value="0.4"/>
<arg name="enable_blockage_diag" value="$(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="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/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>

<group>
<push-ros-namespace namespace="right_lower" />
<include file="$(find-pkg-share aip_x2_launch)/launch/hesai_QT128.launch.xml">
<include file="$(find-pkg-share aip_x2_gen2_launch)/launch/hesai_QT128.launch.xml">
<arg name="setup_sensor" value="$(var setup_sensor)"/>
<arg name="sensor_frame" value="right_lower/lidar"/>
<arg name="sensor_ip" value="192.168.1.215"/>
Expand All @@ -276,7 +276,7 @@
<arg name="is_channel_order_top2down" value="true"/>
<arg name="horizontal_resolution" value="0.4"/>
<arg name="enable_blockage_diag" value="$(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="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/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>
Expand Down
2 changes: 1 addition & 1 deletion aip_x2_gen2_launch/launch/pandar_node_container.launch.py
Original file line number Diff line number Diff line change
Expand Up @@ -333,7 +333,7 @@ def add_launch_arg(name: str, default_value=None):
add_launch_arg("horizontal_resolution", "0.4")
add_launch_arg(
"blockage_diagnostics_param_file",
[FindPackageShare("aip_x2_launch"), "/config/blockage_diagnostics_param_file.yaml"],
[FindPackageShare("aip_x2_gen2_launch"), "/config/blockage_diagnostics_param_file.yaml"],
)
add_launch_arg("vehicle_mirror_param_file")
add_launch_arg("use_multithread", "true")
Expand Down
2 changes: 1 addition & 1 deletion aip_x2_gen2_launch/launch/radar.launch.xml
Original file line number Diff line number Diff line change
Expand Up @@ -204,7 +204,7 @@
</group>

<!-- merge radar objects -->
<let name="merger_param_path" value="$(find-pkg-share aip_x2_launch)/config/simple_object_merger.param.yaml"/>
<let name="merger_param_path" value="$(find-pkg-share aip_x2_gen2_launch)/config/simple_object_merger.param.yaml"/>
<node pkg="simple_object_merger" exec="simple_object_merger_node" name="simple_object_merger" output="screen">
<remap from="~/output/objects" to="detected_objects"/>
<param from="$(var merger_param_path)"/>
Expand Down
10 changes: 5 additions & 5 deletions aip_x2_gen2_launch/launch/sensing.launch.xml
Original file line number Diff line number Diff line change
Expand Up @@ -8,32 +8,32 @@
<group>

<!-- LiDAR Driver -->
<include file="$(find-pkg-share aip_x2_launch)/launch/lidar.launch.xml">
<include file="$(find-pkg-share aip_x2_gen2_launch)/launch/lidar.launch.xml">
<arg name="launch_driver" value="$(var launch_driver)" />
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
</include>

<!-- IMU Driver -->
<include file="$(find-pkg-share aip_x2_launch)/launch/imu.launch.xml">
<include file="$(find-pkg-share aip_x2_gen2_launch)/launch/imu.launch.xml">
<arg name="launch_driver" value="$(var launch_driver)" />
</include>

<!-- GNSS Driver -->
<!-- <include file="$(find-pkg-share aip_x2_launch)/launch/gnss.launch.xml">
<!-- <include file="$(find-pkg-share aip_x2_gen2_launch)/launch/gnss.launch.xml">
<arg name="launch_driver" value="$(var launch_driver)" />
</include> -->

<!-- Radar Driver -->
<include file="$(find-pkg-share aip_x2_launch)/launch/radar.launch.xml">
<include file="$(find-pkg-share aip_x2_gen2_launch)/launch/radar.launch.xml">
<arg name="launch_driver" value="$(var launch_driver)" />
</include>

<!-- Vehicle twist -->
<include file="$(find-pkg-share vehicle_velocity_converter)/launch/vehicle_velocity_converter.launch.xml">
<arg name="input_vehicle_velocity_topic" value="/vehicle/status/velocity_status"/>
<arg name="output_twist_with_covariance" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
<arg name="config_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/vehicle_velocity_converter.param.yaml" />
<arg name="config_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/vehicle_velocity_converter.param.yaml" />
</include>
</group>

Expand Down

0 comments on commit 133e761

Please sign in to comment.