From 3a32bfdccf5d14eaee53836e59ea2f576e81d00b Mon Sep 17 00:00:00 2001
From: Yukihiro Saito <yukky.saito@gmail.com>
Date: Tue, 5 Mar 2024 20:16:13 +0900
Subject: [PATCH] change max_range

---
 aip_xx1_launch/launch/lidar.launch.xml            | 9 +++++----
 common_sensor_launch/launch/hesai_XT32.launch.xml | 1 -
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/aip_xx1_launch/launch/lidar.launch.xml b/aip_xx1_launch/launch/lidar.launch.xml
index 1fd2efb8..7f77ad2d 100644
--- 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
index 7ec89fb8..1a77c267 100644
--- 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"/>