diff --git a/aip_x2_gen2_launch/launch/hesai_OT128.launch.xml b/aip_x2_gen2_launch/launch/hesai_OT128.launch.xml
index e8881a1f..cfc4f138 100644
--- a/aip_x2_gen2_launch/launch/hesai_OT128.launch.xml
+++ b/aip_x2_gen2_launch/launch/hesai_OT128.launch.xml
@@ -26,13 +26,13 @@
-
+
-
+
@@ -61,7 +61,7 @@
-
+
diff --git a/aip_x2_gen2_launch/launch/hesai_QT128.launch.xml b/aip_x2_gen2_launch/launch/hesai_QT128.launch.xml
index 59df827e..9f48bfae 100644
--- a/aip_x2_gen2_launch/launch/hesai_QT128.launch.xml
+++ b/aip_x2_gen2_launch/launch/hesai_QT128.launch.xml
@@ -27,13 +27,13 @@
-
+
-
+
@@ -61,7 +61,7 @@
-
+
diff --git a/aip_x2_gen2_launch/launch/lidar.launch.xml b/aip_x2_gen2_launch/launch/lidar.launch.xml
index cbd40cd1..8f1c219a 100644
--- a/aip_x2_gen2_launch/launch/lidar.launch.xml
+++ b/aip_x2_gen2_launch/launch/lidar.launch.xml
@@ -53,7 +53,7 @@
-
+
@@ -86,7 +86,7 @@
-
+
@@ -119,7 +119,7 @@
-
+
@@ -152,7 +152,7 @@
-
+
@@ -186,7 +186,7 @@
-
+
@@ -219,7 +219,7 @@
-
+
@@ -252,7 +252,7 @@
-
+
@@ -285,7 +285,7 @@
-
+
diff --git a/aip_x2_gen2_launch/launch/nebula_node_container.launch.py b/aip_x2_gen2_launch/launch/nebula_node_container.launch.py
index e09ff11a..49ec3779 100644
--- a/aip_x2_gen2_launch/launch/nebula_node_container.launch.py
+++ b/aip_x2_gen2_launch/launch/nebula_node_container.launch.py
@@ -12,9 +12,6 @@
# See the License for the specific language governing permissions and
# limitations under the License.
-import os
-
-from ament_index_python.packages import get_package_share_directory
import launch
from launch.actions import DeclareLaunchArgument
from launch.actions import OpaqueFunction
@@ -83,18 +80,6 @@ def str2vector(string):
# Model and make
sensor_model = LaunchConfiguration("sensor_model").perform(context)
sensor_make, sensor_extension = get_lidar_make(sensor_model)
- nebula_decoders_share_dir = get_package_share_directory("nebula_decoders")
-
- # Calibration file
- sensor_calib_fp = os.path.join(
- nebula_decoders_share_dir,
- "calibration",
- sensor_make.lower(),
- sensor_model + sensor_extension,
- )
- assert os.path.exists(
- sensor_calib_fp
- ), "Sensor calib file under calibration/ was not found: {}".format(sensor_calib_fp)
glog_component = ComposableNode(
package="glog_component",
@@ -108,7 +93,6 @@ def str2vector(string):
name=sensor_make.lower() + "_ros_wrapper_node",
parameters=[
{
- "calibration_file": sensor_calib_fp,
"sensor_model": sensor_model,
"point_filters": "{}",
**create_parameter_dict(
@@ -134,8 +118,9 @@ def str2vector(string):
"ptp_switch_type",
"ptp_domain",
"diag_span",
+ "calibration_file",
+ "launch_hw",
),
- "launch_hw": True,
"retry_hw": True,
},
],
@@ -333,7 +318,7 @@ def add_launch_arg(name: str, default_value=None, description=None):
add_launch_arg("sensor_model", description="sensor model name")
add_launch_arg("config_file", "", description="sensor configuration file")
- add_launch_arg("launch_driver", "True", "do launch driver")
+ add_launch_arg("launch_hw", "True", "do launch driver")
add_launch_arg("setup_sensor", "True", "configure sensor")
add_launch_arg("sensor_ip", "192.168.1.201", "device ip address")
add_launch_arg(
@@ -383,6 +368,8 @@ def add_launch_arg(name: str, default_value=None, description=None):
add_launch_arg("max_azimuth_deg", "225.0")
add_launch_arg("enable_blockage_diag", "true")
+ add_launch_arg("calibration_file", "")
+
set_container_executable = SetLaunchConfiguration(
"container_executable",
"component_container",