-
Notifications
You must be signed in to change notification settings - Fork 16
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
add nebula launcher to aip_x2_launch
Signed-off-by: t4-x2 <[email protected]>
- Loading branch information
Showing
3 changed files
with
438 additions
and
0 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,45 @@ | ||
| <launch> | ||
|
|
||
| <!-- Params --> | ||
| <arg name="launch_driver" default="true"/> | ||
|
|
||
| <arg name="model" default="Pandar128E4X"/> | ||
| <arg name="sensor_frame" default="pandar"/> | ||
| <arg name="return_mode" default="Strongest"/> | ||
| <arg name="sensor_ip" default="192.168.1.201"/> | ||
| <arg name="host_ip" default="255.255.255.255"/> | ||
| <arg name="data_port" default="2368"/> | ||
| <arg name="scan_phase" default="0.0"/> | ||
| <arg name="cloud_min_angle" default="0"/> | ||
| <arg name="cloud_max_angle" default="360"/> | ||
| <arg name="dual_return_distance_threshold" default="0.1"/> | ||
| <arg name="ptp_switch_type" default="TSN"/> | ||
| <arg name="ptp_domain" default="0"/> | ||
| <arg name="vehicle_mirror_param_file"/> | ||
| <arg name="container_name" default="hesai_node_container"/> | ||
| <arg name="setup_sensor" default="true"/> | ||
|
|
||
| <include file="$(find-pkg-share aip_x2_launch)/launch/nebula_node_container.launch.py"> | ||
| <arg name="launch_driver" value="$(var launch_driver)"/> | ||
| <arg name="sensor_model" value="$(var model)"/> | ||
| <arg name="return_mode" value="$(var return_mode)"/> | ||
| <arg name="frame_id" value="$(var sensor_frame)"/> | ||
| <arg name="sensor_ip" value="$(var sensor_ip)"/> | ||
| <arg name="host_ip" value="$(var host_ip)"/> | ||
| <arg name="data_port" value="$(var data_port)"/> | ||
| <arg name="scan_phase" value="$(var scan_phase)"/> | ||
| <arg name="cloud_min_angle" value="$(var cloud_min_angle)"/> | ||
| <arg name="cloud_max_angle" value="$(var cloud_max_angle)"/> | ||
| <arg name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/> | ||
| <arg name="ptp_profile" value="automotive"/> | ||
| <arg name="ptp_transport_type" value="L2"/> | ||
| <arg name="ptp_switch_type" value="$(var ptp_switch_type)"/> | ||
| <arg name="ptp_domain" value="$(var ptp_domain)"/> | ||
| <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/> | ||
|
|
||
| <arg name="use_intra_process" value="true"/> | ||
| <arg name="use_multithread" value="true"/> | ||
| <arg name="container_name" value="$(var container_name)"/> | ||
| <arg name="setup_sensor" value="$(var setup_sensor)"/> | ||
| </include> | ||
| </launch> |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,45 @@ | ||
| <launch> | ||
|
|
||
| <!-- Params --> | ||
| <arg name="launch_driver" default="true"/> | ||
|
|
||
| <arg name="model" default="PandarQT128"/> | ||
| <arg name="sensor_frame" default="pandar"/> | ||
| <arg name="return_mode" default="Strongest"/> | ||
| <arg name="sensor_ip" default="192.168.1.201"/> | ||
| <arg name="host_ip" default="255.255.255.255"/> | ||
| <arg name="data_port" default="2368"/> | ||
| <arg name="scan_phase" default="0.0"/> | ||
| <arg name="cloud_min_angle" default="0"/> | ||
| <arg name="cloud_max_angle" default="360"/> | ||
| <arg name="dual_return_distance_threshold" default="0.1"/> | ||
| <arg name="ptp_profile" default="1588v2"/> | ||
| <arg name="ptp_transport_type" default="UDP"/> | ||
| <arg name="ptp_switch_type" default="TSN"/> | ||
| <arg name="ptp_domain" default="0"/> | ||
| <arg name="vehicle_mirror_param_file"/> | ||
| <arg name="container_name" default="hesai_node_container"/> | ||
|
|
||
| <include file="$(find-pkg-share aip_x2_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="$(var return_mode)"/> | ||
| <arg name="frame_id" value="$(var sensor_frame)"/> | ||
| <arg name="sensor_ip" value="$(var sensor_ip)"/> | ||
| <arg name="host_ip" value="$(var host_ip)"/> | ||
| <arg name="data_port" value="$(var data_port)"/> | ||
| <arg name="scan_phase" value="$(var scan_phase)"/> | ||
| <arg name="cloud_min_angle" value="$(var cloud_min_angle)"/> | ||
| <arg name="cloud_max_angle" value="$(var cloud_max_angle)"/> | ||
| <arg name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/> | ||
| <arg name="ptp_profile" value="$(var ptp_profile)"/> | ||
| <arg name="ptp_transport_type" value="$(var ptp_transport_type)"/> | ||
| <arg name="ptp_switch_type" value="$(var ptp_switch_type)"/> | ||
| <arg name="ptp_domain" value="$(var ptp_domain)"/> | ||
| <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/> | ||
|
|
||
| <arg name="use_intra_process" value="true"/> | ||
| <arg name="use_multithread" value="true"/> | ||
| <arg name="container_name" value="$(var container_name)"/> | ||
| </include> | ||
| </launch> |
Oops, something went wrong.