change max_range

tier4 · Mar 5, 2024 · 3a32bfd · 3a32bfd
1 parent 9d8d78a
commit 3a32bfd
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Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/aip_xx1_launch/launch/lidar.launch.xml b/aip_xx1_launch/launch/lidar.launch.xml
@@ -14,6 +14,7 @@
     <group>
       <push-ros-namespace namespace="top"/>
       <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_OT128.launch.xml">
+        <arg name="max_range" value="300.0"/>
         <arg name="sensor_frame" value="hesai_top"/>
         <arg name="sensor_ip" value="192.168.1.201"/>
         <arg name="host_ip" value="$(var host_ip)"/>
@@ -28,7 +29,7 @@
     <group>
       <push-ros-namespace namespace="front_left"/>
       <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launch.xml">
-        <arg name="max_range" value="5.0"/>
+        <arg name="max_range" value="300.0"/>
         <arg name="sensor_frame" value="hesai_front_left"/>
         <arg name="sensor_ip" value="192.168.1.21"/>
         <arg name="host_ip" value="$(var host_ip)"/>
@@ -45,7 +46,7 @@
     <group>
       <push-ros-namespace namespace="front_right"/>
       <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launch.xml">
-        <arg name="max_range" value="5.0"/>
+        <arg name="max_range" value="300.0"/>
         <arg name="sensor_frame" value="hesai_front_right"/>
         <arg name="sensor_ip" value="192.168.1.22"/>
         <arg name="host_ip" value="$(var host_ip)"/>
@@ -62,7 +63,7 @@
     <group>
       <push-ros-namespace namespace="side_left"/>
       <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launch.xml">
-        <arg name="max_range" value="5.0"/>
+        <arg name="max_range" value="10.0"/>
         <arg name="sensor_frame" value="hesai_side_left"/>
         <arg name="sensor_ip" value="192.168.1.23"/>
         <arg name="host_ip" value="$(var host_ip)"/>
@@ -79,7 +80,7 @@
     <group>
       <push-ros-namespace namespace="side_right"/>
       <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launch.xml">
-        <arg name="max_range" value="5.0"/>
+        <arg name="max_range" value="10.0"/>
         <arg name="sensor_frame" value="hesai_side_right"/>
         <arg name="sensor_ip" value="192.168.1.24"/>
         <arg name="host_ip" value="$(var host_ip)"/>

diff --git a/common_sensor_launch/launch/hesai_XT32.launch.xml b/common_sensor_launch/launch/hesai_XT32.launch.xml
@@ -12,7 +12,6 @@
   <arg name="scan_phase" default="0.0"/>
   <arg name="cloud_min_angle" default="0"/>
   <arg name="cloud_max_angle" default="360"/>
-  <arg name="max_range" default="100.0"/>
   <arg name="dual_return_distance_threshold" default="0.1"/>
   <arg name="vehicle_mirror_param_file"/>
   <arg name="container_name" default="hesai_node_container"/>