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set param for dual_return_filter and blockage_diag
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@kotaro-hihara
kotaro-hihara committed Jul 18, 2024
1 parent 02202d2 commit 6d0b339
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Showing 3 changed files with 174 additions and 89 deletions.
140 changes: 66 additions & 74 deletions aip_x2_launch/launch/lidar.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +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"/-->
<arg name="enable_blockage_diag" default="true"/>

<group>
<push-ros-namespace namespace="lidar" />
Expand All @@ -24,22 +24,22 @@
<arg name="cloud_max_angle" value="270"/>
<arg name="min_range" value="0.5"/>
<arg name="max_range" value="200.0"/>
<!--arg name="blockage_range" value="[90.0, 270.0]"/-->
<!--arg name="vertical_bins" value ="40" /-->
<!--arg name="horizontal_ring_id" value="12" /-->
<arg name="blockage_range" value="[90.0, 270.0]"/>
<arg name="vertical_bins" value ="40" />
<arg name="horizontal_ring_id" value="12" />
<arg name="return_mode" value="Dual" />
<arg name="ptp_profile" value="1588v2"/>
<arg name="ptp_transport_type" value="UDP"/>
<arg name="ptp_switch_type" value="NON_TSN"/>
<arg name="ptp_domain" value="0"/>
<!--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="horizontal_resolution" value="0.4"/-->
<!--arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/-->
<arg name="min_azimuth_deg" value="135.0"/>
<arg name="max_azimuth_deg" value="225.0"/>
<arg name="is_channel_order_top2down" value="true"/>
<arg name="horizontal_resolution" value="0.4"/>
<arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
<arg name="calibration_file" 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)" /-->
<arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
</include>
</group>
Expand All @@ -57,22 +57,20 @@
<arg name="cloud_max_angle" value="300"/>
<arg name="min_range" value="0.1"/>
<arg name="max_range" value="20.0"/>
<!--arg name="blockage_range" value="[90.0, 270.0]"/-->
<!--arg name="vertical_bins" value ="40" /-->
<!--arg name="horizontal_ring_id" value="12" /-->
<arg name="blockage_range" value="[120.0, 300.0]"/>
<arg name="vertical_bins" value ="64" />
<arg name="horizontal_ring_id" value="40" />
<arg name="return_mode" value="First" />
<arg name="ptp_profile" value="1588v2"/>
<arg name="ptp_transport_type" value="UDP"/>
<arg name="ptp_switch_type" value="NON_TSN"/>
<arg name="ptp_domain" value="0"/>
<!--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="horizontal_resolution" value="0.4"/-->
<!--arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/-->
<arg name="is_channel_order_top2down" value="false"/>
<arg name="horizontal_resolution" value="0.6"/>
<arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
<arg name="calibration_file" 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)" /-->
<arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
</include>
</group>
Expand All @@ -90,22 +88,22 @@
<arg name="cloud_max_angle" value="305"/>
<arg name="min_range" value="0.5"/>
<arg name="max_range" value="200.0"/>
<!--arg name="blockage_range" value="[90.0, 270.0]"/-->
<!--arg name="vertical_bins" value ="40" /-->
<!--arg name="horizontal_ring_id" value="12" /-->
<arg name="blockage_range" value="[90.0, 305.0]"/>
<arg name="vertical_bins" value ="40" />
<arg name="horizontal_ring_id" value="12" />
<arg name="return_mode" value="Dual" />
<arg name="ptp_profile" value="1588v2"/>
<arg name="ptp_transport_type" value="UDP"/>
<arg name="ptp_switch_type" value="NON_TSN"/>
<arg name="ptp_domain" value="0"/>
<!--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="horizontal_resolution" value="0.4"/-->
<!--arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/-->
<arg name="min_azimuth_deg" value="225.0"/>
<arg name="max_azimuth_deg" value="315.0"/>
<arg name="is_channel_order_top2down" value="true"/>
<arg name="horizontal_resolution" value="0.4"/>
<arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
<arg name="calibration_file" 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)" /-->
<arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
</include>
</group>
Expand All @@ -123,22 +121,20 @@
<arg name="cloud_max_angle" value="270"/>
<arg name="min_range" value="0.1"/>
<arg name="max_range" value="20.0"/>
<!--arg name="blockage_range" value="[90.0, 270.0]"/-->
<!--arg name="vertical_bins" value ="40" /-->
<!--arg name="horizontal_ring_id" value="12" /-->
<arg name="blockage_range" value="[120.0, 240.0]"/>
<arg name="vertical_bins" value ="64" />
<arg name="horizontal_ring_id" value="24" />
<arg name="return_mode" value="First" />
<arg name="ptp_profile" value="1588v2"/>
<arg name="ptp_transport_type" value="UDP"/>
<arg name="ptp_switch_type" value="NON_TSN"/>
<arg name="ptp_domain" value="0"/>
<!--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="horizontal_resolution" value="0.4"/-->
<!--arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/-->
<arg name="is_channel_order_top2down" value="false"/>
<arg name="horizontal_resolution" value="0.6"/>
<arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
<arg name="calibration_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/left_lower.csv" />
<arg name="launch_driver" value="$(var launch_driver)" />
<!--arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" /-->
<arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
</include>
</group>
Expand All @@ -156,22 +152,22 @@
<arg name="cloud_max_angle" value="270"/>
<arg name="min_range" value="0.5"/>
<arg name="max_range" value="200.0"/>
<!--arg name="blockage_range" value="[90.0, 270.0]"/-->
<!--arg name="vertical_bins" value ="40" /-->
<!--arg name="horizontal_ring_id" value="12" /-->
<arg name="blockage_range" value="[55.0, 270.0]"/>
<arg name="vertical_bins" value ="40" />
<arg name="horizontal_ring_id" value="12" />
<arg name="return_mode" value="Dual" />
<arg name="ptp_profile" value="1588v2"/>
<arg name="ptp_transport_type" value="UDP"/>
<arg name="ptp_switch_type" value="NON_TSN"/>
<arg name="ptp_domain" value="0"/>
<!--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="horizontal_resolution" value="0.4"/-->
<!--arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/-->
<arg name="min_azimuth_deg" value="45.0"/>
<arg name="max_azimuth_deg" value="135.0"/>
<arg name="is_channel_order_top2down" value="true"/>
<arg name="horizontal_resolution" value="0.4"/>
<arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
<arg name="calibration_file" 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)" /-->
<arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
</include>
</group>
Expand All @@ -189,22 +185,20 @@
<arg name="cloud_max_angle" value="270"/>
<arg name="min_range" value="0.1"/>
<arg name="max_range" value="20.0"/>
<!--arg name="blockage_range" value="[90.0, 270.0]"/-->
<!--arg name="vertical_bins" value ="40" /-->
<!--arg name="horizontal_ring_id" value="12" /-->
<arg name="blockage_range" value="[150.0, 240.0]"/>
<arg name="vertical_bins" value ="64" />
<arg name="horizontal_ring_id" value="24" />
<arg name="return_mode" value="First" />
<arg name="ptp_profile" value="1588v2"/>
<arg name="ptp_transport_type" value="UDP"/>
<arg name="ptp_switch_type" value="NON_TSN"/>
<arg name="ptp_domain" value="0"/>
<!--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="horizontal_resolution" value="0.4"/-->
<!--arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/-->
<arg name="is_channel_order_top2down" value="false"/>
<arg name="horizontal_resolution" value="0.6"/>
<arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
<arg name="calibration_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/right_lower.csv" />
<arg name="launch_driver" value="$(var launch_driver)" />
<!--arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" /-->
<arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
</include>
</group>
Expand All @@ -222,22 +216,22 @@
<arg name="cloud_max_angle" value="270"/>
<arg name="min_range" value="0.5"/>
<arg name="max_range" value="200.0"/>
<!--arg name="blockage_range" value="[90.0, 270.0]"/-->
<!--arg name="vertical_bins" value ="40" /-->
<!--arg name="horizontal_ring_id" value="12" /-->
<arg name="blockage_range" value="[90.0, 270.0]"/>
<arg name="vertical_bins" value ="40" />
<arg name="horizontal_ring_id" value="12" />
<arg name="return_mode" value="Dual" />
<arg name="ptp_profile" value="1588v2"/>
<arg name="ptp_transport_type" value="UDP"/>
<arg name="ptp_switch_type" value="NON_TSN"/>
<arg name="ptp_domain" value="0"/>
<!--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="horizontal_resolution" value="0.4"/-->
<!--arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/-->
<arg name="min_azimuth_deg" value="135.0"/>
<arg name="max_azimuth_deg" value="225.0"/>
<arg name="is_channel_order_top2down" value="true"/>
<arg name="horizontal_resolution" value="0.4"/>
<arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
<arg name="calibration_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/rear_lower.csv" />
<arg name="launch_driver" value="$(var launch_driver)" />
<!--arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" /-->
<arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
</include>
</group>
Expand All @@ -255,22 +249,20 @@
<arg name="cloud_max_angle" value="290"/>
<arg name="min_range" value="0.1"/>
<arg name="max_range" value="20.0"/>
<!--arg name="blockage_range" value="[90.0, 270.0]"/-->
<!--arg name="vertical_bins" value ="40" /-->
<!--arg name="horizontal_ring_id" value="12" /-->
<arg name="return_mode" value="Dual" />
<arg name="blockage_range" value="[110.0, 290.0]"/>
<arg name="vertical_bins" value ="64" />
<arg name="horizontal_ring_id" value="40" />
<arg name="return_mode" value="First" />
<arg name="ptp_profile" value="1588v2"/>
<arg name="ptp_transport_type" value="UDP"/>
<arg name="ptp_switch_type" value="NON_TSN"/>
<arg name="ptp_domain" value="0"/>
<!--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="horizontal_resolution" value="0.4"/-->
<!--arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/-->
<arg name="is_channel_order_top2down" value="false"/>
<arg name="horizontal_resolution" value="0.6"/>
<arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
<arg name="calibration_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/rear_upper.csv" />
<arg name="launch_driver" value="$(var launch_driver)" />
<!--arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" /-->
<arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
</include>
</group>
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