From 50b7af3698292a4c011e4e7d5313f1a80a6c57d0 Mon Sep 17 00:00:00 2001
From: Shinnosuke Hirakawa <8327162+0x126@users.noreply.github.com>
Date: Thu, 5 Sep 2024 13:12:07 +0900
Subject: [PATCH] chore: tuning `dual_return_filter` (#299)

* chore: tuning `dual_return_filter`

* chore: tuning threshold
---
 aip_x2_launch/config/dual_return_filter.param.yaml | 6 ++----
 aip_x2_launch/launch/lidar.launch.xml              | 4 ++--
 2 files changed, 4 insertions(+), 6 deletions(-)

diff --git a/aip_x2_launch/config/dual_return_filter.param.yaml b/aip_x2_launch/config/dual_return_filter.param.yaml
index 3c89faa2..61e9dbb8 100644
--- a/aip_x2_launch/config/dual_return_filter.param.yaml
+++ b/aip_x2_launch/config/dual_return_filter.param.yaml
@@ -2,10 +2,8 @@
   ros__parameters:
     roi_mode: "Fixed_azimuth_ROI" # description="options: `No_ROI`, `Fixed_xyz_ROI` or `Fixed_azimuth_ROI`"/>
     weak_first_local_noise_threshold: 2 # description="for No_ROI roi_mode, recommended value is 10" />
-    visibility_error_threshold: 0.95
-    visibility_warn_threshold: 0.97
-    min_azimuth_deg: 100.0
-    max_azimuth_deg: 260.0
+    visibility_error_threshold: 0.92
+    visibility_warn_threshold: 0.95
     max_distance: 10.0
     x_max: 18.0
     x_min: -12.0
diff --git a/aip_x2_launch/launch/lidar.launch.xml b/aip_x2_launch/launch/lidar.launch.xml
index 6968b7f2..e39c461c 100644
--- a/aip_x2_launch/launch/lidar.launch.xml
+++ b/aip_x2_launch/launch/lidar.launch.xml
@@ -81,7 +81,7 @@
         <arg name="is_channel_order_top2down" value="true"/>
         <arg name="horizontal_resolution" value="0.4"/>
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
-        <arg name="return_mode" value="Dual" />
+        <arg name="return_mode" value="Strongest" />
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/left_upper.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
@@ -133,7 +133,7 @@
         <arg name="is_channel_order_top2down" value="true"/>
         <arg name="horizontal_resolution" value="0.4"/>
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
-        <arg name="return_mode" value="Strongest" />
+        <arg name="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="$(var launch_driver)" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />