From 45d703c10b64ff42b50946cf55cec0481a3d1b36 Mon Sep 17 00:00:00 2001
From: Shunsuke Miura <shunsuke.miura@tier4.jp>
Date: Tue, 12 Mar 2024 11:07:32 +0900
Subject: [PATCH] add launch files

Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp>
---
 .../launch/hesai_OT128.launch.xml             | 38 +++++++++++++++++++
 .../launch/hesai_QT128.launch.xml             | 38 +++++++++++++++++++
 2 files changed, 76 insertions(+)
 create mode 100644 common_sensor_launch/launch/hesai_OT128.launch.xml
 create mode 100644 common_sensor_launch/launch/hesai_QT128.launch.xml

diff --git a/common_sensor_launch/launch/hesai_OT128.launch.xml b/common_sensor_launch/launch/hesai_OT128.launch.xml
new file mode 100644
index 00000000..ccfaced0
--- /dev/null
+++ b/common_sensor_launch/launch/hesai_OT128.launch.xml
@@ -0,0 +1,38 @@
+<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="vehicle_mirror_param_file"/>
+  <arg name="container_name" default="hesai_node_container"/>
+
+  <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
+    <arg name="launch_driver" value="$(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="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="ptp_profile" value="802.1as"/>
+    <arg name="ptp_transport_type" value="L2"/>
+  </include>
+</launch>
diff --git a/common_sensor_launch/launch/hesai_QT128.launch.xml b/common_sensor_launch/launch/hesai_QT128.launch.xml
new file mode 100644
index 00000000..396c7a09
--- /dev/null
+++ b/common_sensor_launch/launch/hesai_QT128.launch.xml
@@ -0,0 +1,38 @@
+<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="vehicle_mirror_param_file"/>
+  <arg name="container_name" default="hesai_node_container"/>
+
+  <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
+    <arg name="launch_driver" value="$(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="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="ptp_profile" value="1588v2"/>
+    <arg name="ptp_transport_type" value="UDP"/>
+  </include>
+</launch>