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fix IP address of LiDARs
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Signed-off-by: Tomohito Ando <[email protected]>
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@TomohitoAndo
TomohitoAndo committed Jul 12, 2024
1 parent 07273e8 commit 6e63302
Showing 1 changed file with 24 additions and 24 deletions.
48 changes: 24 additions & 24 deletions aip_x2_launch/launch/lidar.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -26,16 +26,16 @@

<!-- LiDARs connected to Main ECU -->
<group>
<push-ros-namespace namespace="right_upper" />
<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)"/>
<arg name="sensor_frame" value="right_upper/lidar"/>
<arg name="sensor_frame" value="rear_upper/lidar"/>
<arg name="sensor_ip" value="192.168.1.202"/>
<arg name="host_ip" value="$(var host_ip)"/>
<arg name="data_port" value="2321"/>
<arg name="scan_phase" value="90.0"/>
<arg name="cloud_min_angle" value="350"/>
<arg name="cloud_max_angle" value="280"/>
<arg name="cloud_min_angle" value="87"/>
<arg name="cloud_max_angle" value="287"/>
<arg name="return_mode" value="LastStrongest"/>
<arg name="ptp_switch_type" value="NON_TSN"/>
<arg name="ptp_domain" value="1"/>
Expand All @@ -57,16 +57,16 @@
</group>

<group>
<push-ros-namespace namespace="rear_upper" />
<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)"/>
<arg name="sensor_frame" value="rear_upper/lidar"/>
<arg name="sensor_frame" value="left_upper/lidar"/>
<arg name="sensor_ip" value="192.168.1.203"/>
<arg name="host_ip" value="$(var host_ip)"/>
<arg name="data_port" value="2322"/>
<arg name="scan_phase" value="0.0"/>
<arg name="cloud_min_angle" value="78"/>
<arg name="cloud_max_angle" value="284"/>
<arg name="cloud_min_angle" value="80"/>
<arg name="cloud_max_angle" value="10"/>
<arg name="return_mode" value="LastStrongest"/>
<arg name="ptp_switch_type" value="NON_TSN"/>
<arg name="ptp_domain" value="2"/>
Expand All @@ -88,10 +88,10 @@
</group>

<group>
<push-ros-namespace namespace="right_lower" />
<push-ros-namespace namespace="rear_lower" />
<include file="$(find-pkg-share aip_x2_launch)/launch/hesai_QT128.launch.xml">
<arg name="setup_sensor" value="$(var setup_sensor)"/>
<arg name="sensor_frame" value="right_lower/lidar"/>
<arg name="sensor_frame" value="rear_lower/lidar"/>
<arg name="sensor_ip" value="192.168.1.212"/>
<arg name="host_ip" value="$(var host_ip)"/>
<arg name="data_port" value="2376"/>
Expand Down Expand Up @@ -121,10 +121,10 @@
</group>

<group>
<push-ros-namespace namespace="rear_lower" />
<push-ros-namespace namespace="left_lower" />
<include file="$(find-pkg-share aip_x2_launch)/launch/hesai_QT128.launch.xml">
<arg name="setup_sensor" value="$(var setup_sensor)"/>
<arg name="sensor_frame" value="rear_lower/lidar"/>
<arg name="sensor_frame" value="left_lower/lidar"/>
<arg name="sensor_ip" value="192.168.1.213"/>
<arg name="host_ip" value="$(var host_ip)"/>
<arg name="data_port" value="2377"/>
Expand Down Expand Up @@ -155,16 +155,16 @@

<!-- LiDARs connected to Sub ECU -->
<group>
<push-ros-namespace namespace="left_upper" />
<push-ros-namespace namespace="front_upper" />
<include file="$(find-pkg-share aip_x2_launch)/launch/hesai_OT128.launch.xml">
<arg name="setup_sensor" value="$(var setup_sensor)"/>
<arg name="sensor_frame" value="left_upper/lidar"/>
<arg name="sensor_frame" value="front_upper/lidar"/>
<arg name="sensor_ip" value="192.168.1.204"/>
<arg name="host_ip" value="$(var host_ip)"/>
<arg name="data_port" value="2323"/>
<arg name="scan_phase" value="270.0"/>
<arg name="cloud_min_angle" value="80"/>
<arg name="cloud_max_angle" value="10"/>
<arg name="cloud_min_angle" value="87"/>
<arg name="cloud_max_angle" value="287"/>
<arg name="return_mode" value="LastStrongest"/>
<arg name="ptp_switch_type" value="NON_TSN"/>
<arg name="ptp_domain" value="3"/>
Expand All @@ -186,16 +186,16 @@
</group>

<group>
<push-ros-namespace namespace="front_upper" />
<push-ros-namespace namespace="right_upper" />
<include file="$(find-pkg-share aip_x2_launch)/launch/hesai_OT128.launch.xml">
<arg name="setup_sensor" value="$(var setup_sensor)"/>
<arg name="sensor_frame" value="front_upper/lidar"/>
<arg name="sensor_frame" value="right_upper/lidar"/>
<arg name="sensor_ip" value="192.168.1.205"/>
<arg name="host_ip" value="$(var host_ip)"/>
<arg name="data_port" value="2324"/>
<arg name="scan_phase" value="180.0"/>
<arg name="cloud_min_angle" value="87"/>
<arg name="cloud_max_angle" value="287"/>
<arg name="cloud_min_angle" value="350"/>
<arg name="cloud_max_angle" value="280"/>
<arg name="return_mode" value="LastStrongest"/>
<arg name="ptp_switch_type" value="NON_TSN"/>
<arg name="ptp_domain" value="4"/>
Expand All @@ -217,10 +217,10 @@
</group>

<group>
<push-ros-namespace namespace="left_lower" />
<push-ros-namespace namespace="front_lower" />
<include file="$(find-pkg-share aip_x2_launch)/launch/hesai_QT128.launch.xml">
<arg name="setup_sensor" value="$(var setup_sensor)"/>
<arg name="sensor_frame" value="left_lower/lidar"/>
<arg name="sensor_frame" value="front_lower/lidar"/>
<arg name="sensor_ip" value="192.168.1.214"/>
<arg name="host_ip" value="$(var host_ip)"/>
<arg name="data_port" value="2378"/>
Expand Down Expand Up @@ -250,10 +250,10 @@
</group>

<group>
<push-ros-namespace namespace="front_lower" />
<push-ros-namespace namespace="right_lower" />
<include file="$(find-pkg-share aip_x2_launch)/launch/hesai_QT128.launch.xml">
<arg name="setup_sensor" value="$(var setup_sensor)"/>
<arg name="sensor_frame" value="front_lower/lidar"/>
<arg name="sensor_frame" value="right_lower/lidar"/>
<arg name="sensor_ip" value="192.168.1.215"/>
<arg name="host_ip" value="$(var host_ip)"/>
<arg name="data_port" value="2379"/>
Expand Down

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