fix: velodyne launch

Signed-off-by: badai-nguyen <[email protected]>
tier4 · Mar 15, 2024 · 57612b6 · 57612b6
1 parent f5b67cc
commit 57612b6
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Showing 3 changed files with 30 additions and 0 deletions.
diff --git a/common_sensor_launch/launch/velodyne_VLP16.launch.xml b/common_sensor_launch/launch/velodyne_VLP16.launch.xml
@@ -16,6 +16,11 @@
   <arg name="cloud_max_angle" default="360"/>
   <arg name="vehicle_mirror_param_file"/>
   <arg name="container_name" default="velodyne_node_container"/>
+  <arg name="vertical_bins" default="16"/>
+  <arg name="horizontal_ring_id" default="0"/>
+  <arg name="is_channel_order_top2down" default="false"/>
+  <arg name="horizontal_resolution" default="0.4"/>
+  <arg name="enable_blockage_diag" default="true"/>
 
   <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
     <arg name="launch_driver" value="$(var launch_driver)"/>
@@ -34,6 +39,11 @@
     <arg name="use_intra_process" value="true"/>
     <arg name="use_multithread" value="false"/>
     <arg name="container_name" value="$(var container_name)"/>
+    <arg name="vertical_bins" value="$(var vertical_bins)"/>
+    <arg name="horizontal_ring_id" value="$(var horizontal_ring_id)"/>
+    <arg name="is_channel_order_top2down" value="$(var is_channel_order_top2down)"/>
+    <arg name="horizontal_resolution" value="$(var horizontal_resolution)"/>
+    <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
   </include>
 
   <!-- Velodyne Monitor -->

diff --git a/common_sensor_launch/launch/velodyne_VLP32C.launch.xml b/common_sensor_launch/launch/velodyne_VLP32C.launch.xml
@@ -16,6 +16,11 @@
   <arg name="cloud_max_angle" default="360"/>
   <arg name="vehicle_mirror_param_file"/>
   <arg name="container_name" default="velodyne_node_container"/>
+  <arg name="vertical_bins" default="32"/>
+  <arg name="horizontal_ring_id" default="0"/>
+  <arg name="is_channel_order_top2down" default="false"/>
+  <arg name="horizontal_resolution" default="0.4"/>
+  <arg name="enable_blockage_diag" default="true"/>
 
   <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
     <arg name="launch_driver" value="$(var launch_driver)"/>
@@ -34,6 +39,11 @@
     <arg name="use_intra_process" value="false"/>
     <arg name="use_multithread" value="false"/>
     <arg name="container_name" value="$(var container_name)"/>
+    <arg name="vertical_bins" value="$(var vertical_bins)"/>
+    <arg name="horizontal_ring_id" value="$(var horizontal_ring_id)"/>
+    <arg name="is_channel_order_top2down" value="$(var is_channel_order_top2down)"/>
+    <arg name="horizontal_resolution" value="$(var horizontal_resolution)"/>
+    <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
   </include>
 
   <!-- Velodyne Monitor -->

diff --git a/common_sensor_launch/launch/velodyne_VLS128.launch.xml b/common_sensor_launch/launch/velodyne_VLS128.launch.xml
@@ -16,6 +16,11 @@
   <arg name="cloud_max_angle" default="360"/>
   <arg name="vehicle_mirror_param_file"/>
   <arg name="container_name" default="velodyne_node_container"/>
+  <arg name="vertical_bins" default="128"/>
+  <arg name="horizontal_ring_id" default="64"/>
+  <arg name="is_channel_order_top2down" default="false"/>
+  <arg name="horizontal_resolution" default="0.4"/>
+  <arg name="enable_blockage_diag" default="false"/>
 
   <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
     <arg name="launch_driver" value="$(var launch_driver)"/>
@@ -34,6 +39,11 @@
     <arg name="use_intra_process" value="true"/>
     <arg name="use_multithread" value="true"/>
     <arg name="container_name" value="$(var container_name)"/>
+    <arg name="vertical_bins" value="$(var vertical_bins)"/>
+    <arg name="horizontal_ring_id" value="$(var horizontal_ring_id)"/>
+    <arg name="is_channel_order_top2down" value="$(var is_channel_order_top2down)"/>
+    <arg name="horizontal_resolution" value="$(var horizontal_resolution)"/>
+    <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
   </include>
 
   <!-- Velodyne Monitor -->