From 7e61cca9781911f9c3e4dcb043642cb8e7fdbfca Mon Sep 17 00:00:00 2001
From: Tomoya Kimura <tomoya.kimura@tier4.jp>
Date: Wed, 15 Mar 2023 11:20:44 +0900
Subject: [PATCH] feat: set max range of rear_lidar in xx1 (#110)

* feat: set max range of rear_lidar in xx1

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* feat: add concatenated target to rear lidar

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* feat: do not use left/right lidar

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

---------

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
---
 aip_xx1_launch/launch/lidar.launch.xml                  | 2 +-
 aip_xx1_launch/launch/pointcloud_preprocessor.launch.py | 5 +++--
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/aip_xx1_launch/launch/lidar.launch.xml b/aip_xx1_launch/launch/lidar.launch.xml
index 3cca24c4..f209d743 100644
--- a/aip_xx1_launch/launch/lidar.launch.xml
+++ b/aip_xx1_launch/launch/lidar.launch.xml
@@ -52,7 +52,7 @@
     <group>
       <push-ros-namespace namespace="rear"/>
       <include file="$(find-pkg-share common_sensor_launch)/launch/velodyne_VLP16.launch.xml">
-        <arg name="max_range" value="15.0" />
+        <arg name="max_range" value="1.5" />
         <arg name="sensor_frame" value="velodyne_rear" />
         <arg name="device_ip" value="192.168.1.204"/>
         <arg name="port" value="2371"/>
diff --git a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
index 3e8ee1fe..2fbe717c 100644
--- a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
+++ b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
@@ -36,8 +36,9 @@ def launch_setup(context, *args, **kwargs):
             {
                 "input_topics": [
                     "/sensing/lidar/top/outlier_filtered/pointcloud",
-                    "/sensing/lidar/left/outlier_filtered/pointcloud",
-                    "/sensing/lidar/right/outlier_filtered/pointcloud",
+                    # "/sensing/lidar/left/outlier_filtered/pointcloud",
+                    # "/sensing/lidar/right/outlier_filtered/pointcloud",
+                    "/sensing/lidar/rear/outlier_filtered/pointcloud",
                 ],
                 "output_frame": LaunchConfiguration("base_frame"),
             }