fix OT128 & XT32 PTP profile

tier4 · Oct 4, 2024 · 7f022d7 · 7f022d7
1 parent b5ef1ef
commit 7f022d7
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Showing 2 changed files with 6 additions and 6 deletions.
diff --git a/common_sensor_launch/launch/hesai_OT128.launch.xml b/common_sensor_launch/launch/hesai_OT128.launch.xml
@@ -36,10 +36,10 @@
     <arg name="use_intra_process" value="true"/>
     <arg name="use_multithread" value="true"/>
     <arg name="container_name" value="$(var container_name)"/>
-    <arg name="ptp_profile" value="802.1as"/>
+    <arg name="ptp_profile" value="automotive"/>
     <arg name="ptp_transport_type" value="L2"/>
     <arg name="ptp_switch_type" value="NON_TSN"/>
-    <arg name="ptp_domain" value="1"/>
-    <arg name="setup_sensor" value="false"/>
+    <arg name="ptp_domain" value="0"/>
+    <arg name="setup_sensor" value="true"/>
   </include>
 </launch>
diff --git a/common_sensor_launch/launch/hesai_XT32.launch.xml b/common_sensor_launch/launch/hesai_XT32.launch.xml
@@ -36,9 +36,9 @@
     <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
     <arg name="use_intra_process" value="true"/>
     <arg name="use_multithread" value="true"/>
-    <arg name="ptp_profile" value="1588v2"/>
-    <arg name="ptp_switch_type" value="TSN"/>
-    <arg name="ptp_transport_type" value="UDP"/>
+    <arg name="ptp_profile" value="automotive"/>
+    <arg name="ptp_switch_type" value="NON_TSN"/>
+    <arg name="ptp_transport_type" value="L2"/>
     <arg name="setup_sensor" value="true"/>
     <arg name="retry_hw" value="true"/>
     <arg name="container_name" value="$(var container_name)"/>