From 5488aad5261c1adf0b7f980a3e689f3871140e18 Mon Sep 17 00:00:00 2001
From: Tomohito Ando <tomohito.ando@tier4.jp>
Date: Fri, 21 Jun 2024 20:07:35 +0900
Subject: [PATCH] update launcher

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>
---
 aip_x2_launch/launch/hesai_OT128.launch.xml | 4 +++-
 aip_x2_launch/launch/lidar.launch.xml       | 8 ++++----
 2 files changed, 7 insertions(+), 5 deletions(-)

diff --git a/aip_x2_launch/launch/hesai_OT128.launch.xml b/aip_x2_launch/launch/hesai_OT128.launch.xml
index 1e159b81..d4a0a909 100644
--- a/aip_x2_launch/launch/hesai_OT128.launch.xml
+++ b/aip_x2_launch/launch/hesai_OT128.launch.xml
@@ -29,6 +29,7 @@
   <arg name="calibration" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/front_lower.csv" />
   <arg name="dual_return_filter_param_file" default="$(var dual_return_filter_param_file)" />
   <arg name="vehicle_mirror_param_file" default="$(var vehicle_mirror_param_file)" />
+  <arg name="blockage_diagnostics_param_file" default="$(find-pkg-share aip_x2_launch)/config/blockage_diagnostics_param_file.yaml" />
 
   <include file="$(find-pkg-share aip_x2_launch)/launch/nebula_node_container.launch.py">
     <arg name="launch_driver" value="$(var launch_driver)"/>
@@ -53,7 +54,7 @@
     <arg name="container_name" value="$(var container_name)"/>
     <arg name="setup_sensor" value="$(var setup_sensor)"/>
 
-    <arg name="distance_range" value="$(var enable_blockage_diag)"/>
+    <arg name="distance_range" value="$(var distance_range)"/>
     <arg name="blockage_range" value="$(var blockage_range)"/>
     <arg name="vertical_bins" value ="$(var vertical_bins)"/>
     <arg name="horizontal_ring_id" value="$(var horizontal_ring_id)" />
@@ -62,6 +63,7 @@
     <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
     <arg name="calibration" value="$(var calibration)"/>
     <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)"/>
+    <arg name="blockage_diagnostics_param_file" value="$(var blockage_diagnostics_param_file)"/>
 
   </include>
 </launch>
diff --git a/aip_x2_launch/launch/lidar.launch.xml b/aip_x2_launch/launch/lidar.launch.xml
index 4e95f6a6..af460998 100644
--- a/aip_x2_launch/launch/lidar.launch.xml
+++ b/aip_x2_launch/launch/lidar.launch.xml
@@ -56,7 +56,7 @@
       </include>
     </group>
 
-    <!-- <group>
+    <group>
       <push-ros-namespace namespace="rear_upper" />
       <include file="$(find-pkg-share aip_x2_launch)/launch/hesai_OT128.launch.xml">
         <arg name="setup_sensor" value="$(var setup_sensor)"/>
@@ -118,10 +118,10 @@
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="pointcloud_container"/>
       </include>
-    </group> -->
+    </group>
 
     <!-- LiDARs connected to Sub ECU -->
-    <!-- <group>
+    <group>
       <push-ros-namespace namespace="left_upper" />
       <include file="$(find-pkg-share aip_x2_launch)/launch/hesai_OT128.launch.xml">
         <arg name="setup_sensor" value="$(var setup_sensor)"/>
@@ -203,7 +203,7 @@
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
       </include>
-    </group> -->
+    </group>
 
   </group>
 </launch>