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fix: x2 launch
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Signed-off-by: badai-nguyen <[email protected]>
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badai-nguyen committed Dec 26, 2023
1 parent 8e3ac8b commit 4748c45
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Showing 2 changed files with 38 additions and 1 deletion.
33 changes: 33 additions & 0 deletions aip_x2_launch/launch/lidar.launch.xml
Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,7 @@
<arg name="use_pointcloud_container" default="false" description="launch pointcloud container"/>
<arg name="pointcloud_container_name" default="pointcloud_container"/>
<arg name="dual_return_filter_param_file" default="$(find-pkg-share aip_x2_launch)/config/dual_return_filter.param.yaml"/>
<arg name="enable_blockage_diag" default="true"/>

<group>
<push-ros-namespace namespace="lidar" />
Expand All @@ -26,6 +27,10 @@
<arg name="return_mode" value="Strongest" />
<arg name="min_azimuth_deg" value="135.0"/>
<arg name="max_azimuth_deg" value="225.0"/>
<arg name="is_channel_order_top2down" value="true"/>
<arg name="max_distance_range" value="200.0"/>
<arg name="horizontal_resolution" value="0.4"/>
<arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
<arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/front_lower.csv" />
<arg name="launch_driver" value="$(var launch_driver)" />
<arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
Expand All @@ -46,6 +51,10 @@
<arg name="vertical_bins" value ="64" />
<arg name="horizontal_ring_id" value="40" />
<arg name="return_mode" value="First" />
<arg name="is_channel_order_top2down" value="false"/>
<arg name="max_distance_range" value="7.5"/>
<arg name="horizontal_resolution" value="0.6"/>
<arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
<arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/front_upper.csv" />
<arg name="launch_driver" value="$(var launch_driver)" />
<arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
Expand All @@ -68,6 +77,10 @@
<arg name="horizontal_ring_id" value="12" />
<arg name="min_azimuth_deg" value="225.0"/>
<arg name="max_azimuth_deg" value="315.0"/>
<arg name="is_channel_order_top2down" value="true"/>
<arg name="max_distance_range" value="200.0"/>
<arg name="horizontal_resolution" value="0.4"/>
<arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
<arg name="return_mode" value="Dual" />
<arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/left_upper.csv" />
<arg name="launch_driver" value="$(var launch_driver)" />
Expand All @@ -89,6 +102,10 @@
<arg name="distance_range" value="[0.1, 7.5]"/>
<arg name="vertical_bins" value ="64" />
<arg name="horizontal_ring_id" value="54" />
<arg name="is_channel_order_top2down" value="false"/>
<arg name="max_distance_range" value="7.5"/>
<arg name="horizontal_resolution" value="0.6"/>
<arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
<arg name="return_mode" value="First" />
<arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/left_lower.csv" />
<arg name="launch_driver" value="$(var launch_driver)" />
Expand All @@ -112,6 +129,10 @@
<arg name="horizontal_ring_id" value="12" />
<arg name="min_azimuth_deg" value="45.0"/>
<arg name="max_azimuth_deg" value="135.0"/>
<arg name="is_channel_order_top2down" value="true"/>
<arg name="max_distance_range" value="200.0"/>
<arg name="horizontal_resolution" value="0.4"/>
<arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
<arg name="return_mode" value="Dual" />
<arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/right_upper.csv" />
<arg name="launch_driver" value="$(var launch_driver)" />
Expand All @@ -133,6 +154,10 @@
<arg name="distance_range" value="[0.1, 7.5]"/>
<arg name="vertical_bins" value ="64" />
<arg name="horizontal_ring_id" value="54" />
<arg name="is_channel_order_top2down" value="false"/>
<arg name="max_distance_range" value="7.5"/>
<arg name="horizontal_resolution" value="0.6"/>
<arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
<arg name="return_mode" value="First" />
<arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/right_lower.csv" />
<arg name="launch_driver" value="$(var launch_driver)" />
Expand All @@ -156,6 +181,10 @@
<arg name="horizontal_ring_id" value="12" />
<arg name="min_azimuth_deg" value="135.0"/>
<arg name="max_azimuth_deg" value="225.0"/>
<arg name="is_channel_order_top2down" value="true"/>
<arg name="max_distance_range" value="200.0"/>
<arg name="horizontal_resolution" value="0.4"/>
<arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
<arg name="return_mode" value="Strongest" />
<arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/rear_lower.csv" />
<arg name="launch_driver" value="$(var launch_driver)" />
Expand All @@ -177,6 +206,10 @@
<arg name="distance_range" value="[0.1, 7.5]"/>
<arg name="vertical_bins" value ="64" />
<arg name="horizontal_ring_id" value="40" />
<arg name="is_channel_order_top2down" value="false"/>
<arg name="max_distance_range" value="7.5"/>
<arg name="horizontal_resolution" value="0.6"/>
<arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
<arg name="return_mode" value="First" />
<arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/rear_upper.csv" />
<arg name="launch_driver" value="$(var launch_driver)" />
Expand Down
6 changes: 5 additions & 1 deletion aip_x2_launch/launch/pandar_node_container.launch.py
Original file line number Diff line number Diff line change
Expand Up @@ -245,7 +245,9 @@ def create_parameter_dict(*args):
"angle_range": LaunchConfiguration("angle_range"),
"horizontal_ring_id": LaunchConfiguration("horizontal_ring_id"),
"vertical_bins": LaunchConfiguration("vertical_bins"),
"model": LaunchConfiguration("model"),
"is_channel_order_top2down": LaunchConfiguration("is_channel_order_top2down"),
"max_distance_range": LaunchConfiguration("max_distance_range"),
"horizontal_resolution": LaunchConfiguration("horizontal_resolution"),
}
]
+ [load_composable_node_param("blockage_diagnostics_param_file")],
Expand Down Expand Up @@ -323,6 +325,8 @@ def add_launch_arg(name: str, default_value=None):
add_launch_arg("input_frame", LaunchConfiguration("base_frame"))
add_launch_arg("output_frame", LaunchConfiguration("base_frame"))
add_launch_arg("dual_return_filter_param_file")
add_launch_arg("horizontal_resolution", "0.4")
add_launch_arg("max_distance_range", "200.0")
add_launch_arg(
"blockage_diagnostics_param_file",
[FindPackageShare("aip_x2_launch"), "/config/blockage_diagnostics_param_file.yaml"],
Expand Down

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