From 593a7b5525be7c23b2968e251378a6e48bd9fc0c Mon Sep 17 00:00:00 2001
From: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp>
Date: Sat, 30 Mar 2024 11:01:43 +0900
Subject: [PATCH] exclude the OT128 driver to outside the container

Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp>
---
 .../launch/hesai_OT128.launch.xml             | 20 +++++++
 .../launch/nebula_node_container.launch.py    | 60 ++++++++++---------
 2 files changed, 52 insertions(+), 28 deletions(-)

diff --git a/common_sensor_launch/launch/hesai_OT128.launch.xml b/common_sensor_launch/launch/hesai_OT128.launch.xml
index 7d4713fd..c7e9bfe9 100644
--- a/common_sensor_launch/launch/hesai_OT128.launch.xml
+++ b/common_sensor_launch/launch/hesai_OT128.launch.xml
@@ -38,4 +38,24 @@
     <arg name="ptp_domain" value="1"/>
     <arg name="setup_sensor" value="false"/>
   </include>
+
+  <node pkg="nebula_ros" name="hesai_driver_ros_wrapper_node" exec="hesai_driver_ros_wrapper_node">
+    <remap from="aw_points" to="pointcloud_raw" />
+    <remap from="aw_points_ex" to="pointcloud_raw_ex" />
+    <param name="calibration_file" value="$(find-pkg-share nebula_decoders)/calibration/hesai/$(var model).csv"/>
+    <param name="sensor_model" value="$(var model)"/>
+
+    <param name="host_ip" value="$(var host_ip)"/>
+    <param name="sensor_ip" value="$(var sensor_ip)"/>
+    <param name="data_port" value="$(var data_port)"/>
+    <param name="return_mode" value="$(var return_mode)"/>
+    <param name="min_range" value="0.3"/>
+    <param name="max_range" value="300.0"/>
+    <param name="frame_id" value="$(var sensor_frame)"/>
+    <param name="scane_phase" value="$(var scan_phase)"/>
+    <param name="cloud_min_angle" value="$(var cloud_min_angle)"/>
+    <param name="cloud_max_angle" value="$(var cloud_max_angle)"/>
+    <param name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/>
+  </node>
+
 </launch>
diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py
index 7b6ee0c2..6a2dffac 100644
--- a/common_sensor_launch/launch/nebula_node_container.launch.py
+++ b/common_sensor_launch/launch/nebula_node_container.launch.py
@@ -128,35 +128,39 @@ def create_parameter_dict(*args):
         )
     )
 
-    nodes.append(
-        ComposableNode(
-            package="nebula_ros",
-            plugin=sensor_make + "HwMonitorRosWrapper",
-            name=sensor_make.lower() + "_hw_monitor_ros_wrapper_node",
-            parameters=[
-                {
-                    "sensor_model": sensor_model,
-                    **create_parameter_dict(
-                        "return_mode",
-                        "frame_id",
-                        "scan_phase",
-                        "sensor_ip",
-                        "host_ip",
-                        "data_port",
-                        "gnss_port",
-                        "packet_mtu_size",
-                        "rotation_speed",
-                        "cloud_min_angle",
-                        "cloud_max_angle",
-                        "diag_span",
-                        "dual_return_distance_threshold",
-                        "delay_monitor_ms",
-                    ),
-                },
-            ],
-            extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
+    # NOTE: Exclude the OT128 driver to outside the container
+    if sensor_model != "Pandar128E4X":
+        nodes.append(
+            ComposableNode(
+                package="nebula_ros",
+                plugin=sensor_make + "HwMonitorRosWrapper",
+                name=sensor_make.lower() + "_hw_monitor_ros_wrapper_node",
+                parameters=[
+                    {
+                        "sensor_model": sensor_model,
+                        **create_parameter_dict(
+                            "return_mode",
+                            "frame_id",
+                            "scan_phase",
+                            "sensor_ip",
+                            "host_ip",
+                            "data_port",
+                            "gnss_port",
+                            "packet_mtu_size",
+                            "rotation_speed",
+                            "cloud_min_angle",
+                            "cloud_max_angle",
+                            "diag_span",
+                            "dual_return_distance_threshold",
+                            "delay_monitor_ms",
+                        ),
+                    },
+                ],
+                extra_arguments=[
+                    {"use_intra_process_comms": LaunchConfiguration("use_intra_process")}
+                ],
+            )
         )
-    )
 
     cropbox_parameters = create_parameter_dict("input_frame", "output_frame")
     cropbox_parameters["negative"] = True