From 25e24cc924b45f31c14dca8e871f152065b052c5 Mon Sep 17 00:00:00 2001
From: Takeshi Miura <m.takeshi1995@gmail.com>
Date: Thu, 2 May 2024 12:31:38 +0900
Subject: [PATCH] feat: use nebula driver for aip_x1_1 sensor configuration
 (#235)

* feat: use nebula driver for aip_x1_1

Signed-off-by: 1222-takeshi <m.takeshi1995@gmail.com>

* ci(pre-commit): autofix

* chore: remove comment out

Signed-off-by: 1222-takeshi <m.takeshi1995@gmail.com>

* chore: remove unnecessary changes

Signed-off-by: 1222-takeshi <m.takeshi1995@gmail.com>

---------

Signed-off-by: 1222-takeshi <m.takeshi1995@gmail.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
---
 aip_x1_1_launch/launch/lidar.launch.xml | 26 ++++++++++++++-----------
 aip_x1_1_launch/package.xml             |  6 +-----
 common_sensor_launch/package.xml        |  1 -
 3 files changed, 16 insertions(+), 17 deletions(-)

diff --git a/aip_x1_1_launch/launch/lidar.launch.xml b/aip_x1_1_launch/launch/lidar.launch.xml
index b2457f76..72e0c41d 100644
--- a/aip_x1_1_launch/launch/lidar.launch.xml
+++ b/aip_x1_1_launch/launch/lidar.launch.xml
@@ -1,6 +1,7 @@
 <launch>
 
   <arg name="launch_driver" default="true" />
+  <arg name="host_ip" default="127.0.0.1"/>
   <arg name="use_concat_filter" default="true" />
   <arg name="use_radius_search" default="false" />
   <arg name="vehicle_id" default="$(env VEHICLE_ID default)" />
@@ -12,10 +13,11 @@
 
     <group>
       <push-ros-namespace namespace="top"/>
-      <include file="$(find-pkg-share aip_x1_1_launch)/launch/velodyne_VLP16.launch.xml">
+      <include file="$(find-pkg-share common_sensor_launch)/launch/velodyne_VLP16.launch.xml">
         <arg name="sensor_frame" value="velodyne_top" />
         <arg name="device_ip" value="192.168.1.20"/>
-        <arg name="port" value="2368"/>
+        <arg name="host_ip" value="$(var host_ip)"/>
+        <arg name="data_port" value="2368"/>
         <arg name="scan_phase" value="180.0" />
         <arg name="launch_driver" value="$(var launch_driver)" />
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
@@ -25,18 +27,20 @@
 
     <group>
       <push-ros-namespace namespace="front_center" />
-      <include file="$(find-pkg-share aip_x1_1_launch)/launch/pandar_node_container.launch.py">
-        <arg name="model" value="PandarXT-32" />
-        <arg name="frame_id" value="pandar_xt32_front_center" />
-        <arg name="device_ip" value="192.168.3.201" />
-        <arg name="lidar_port" value="2321" />
-        <arg name="gps_port" value="10121" />
+      <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launch.xml">
+        <arg name="sensor_frame" value="pandar_xt32_front_center" />
+        <arg name="sensor_ip" value="192.168.3.201" />
+        <arg name="data_port" value="2321" />
+        <arg name="gnss_port" value="10121" />
         <arg name="scan_phase" value="0.0" />
-        <arg name="angle_range" value="[0.0, 360.0]"/>
-        <arg name="distance_range" value="[0.05, 200.0]"/>
+        <arg name="cloud_min_angle" value="0"/>
+        <arg name="cloud_max_angle" value="360"/>
+        <arg name="min_range" value="0.05"/>
+        <arg name="max_range" value="200.0"/>
         <arg name="return_mode" value="Strongest" />
-        <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x1_1/xt32.csv" />
+        <arg name="config_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x1_1/xt32.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />
+        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
       </include>
     </group>
 
diff --git a/aip_x1_1_launch/package.xml b/aip_x1_1_launch/package.xml
index 8e7f2600..f20fb08e 100644
--- a/aip_x1_1_launch/package.xml
+++ b/aip_x1_1_launch/package.xml
@@ -10,22 +10,18 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
+  <exec_depend>common_sensor_launch</exec_depend>
   <exec_depend>compare_map_segmentation</exec_depend>
   <exec_depend>elevation_map_loader</exec_depend>
   <exec_depend>ground_segmentation</exec_depend>
   <exec_depend>imu_corrector</exec_depend>
   <exec_depend>individual_params</exec_depend>
   <exec_depend>occupancy_grid_map_outlier_filter</exec_depend>
-  <exec_depend>pandar_driver</exec_depend>
-  <exec_depend>pandar_pointcloud</exec_depend>
   <exec_depend>pointcloud_preprocessor</exec_depend>
   <exec_depend>rclcpp_components</exec_depend>
   <exec_depend>ros2_socketcan</exec_depend>
   <exec_depend>tamagawa_imu_driver</exec_depend>
   <exec_depend>topic_state_monitor</exec_depend>
-  <exec_depend>velodyne_driver</exec_depend>
-  <exec_depend>velodyne_monitor</exec_depend>
-  <exec_depend>velodyne_pointcloud</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
diff --git a/common_sensor_launch/package.xml b/common_sensor_launch/package.xml
index 016a653f..c0c1170b 100644
--- a/common_sensor_launch/package.xml
+++ b/common_sensor_launch/package.xml
@@ -17,7 +17,6 @@
   <exec_depend>dummy_diag_publisher</exec_depend>
   <exec_depend>nebula_sensor_driver</exec_depend>
   <exec_depend>velodyne_monitor</exec_depend>
-  <!-- <exec_depend>nebula_sensor_driver</exec_depend> -->
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>