From 7f022d7f01b67537e67922ad5109cbf5ebc97f58 Mon Sep 17 00:00:00 2001
From: j4tfwm6z <j4tfwm6z@tier4.jp>
Date: Fri, 4 Oct 2024 11:39:22 +0900
Subject: [PATCH] fix OT128 & XT32 PTP profile

---
 common_sensor_launch/launch/hesai_OT128.launch.xml | 6 +++---
 common_sensor_launch/launch/hesai_XT32.launch.xml  | 6 +++---
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/common_sensor_launch/launch/hesai_OT128.launch.xml b/common_sensor_launch/launch/hesai_OT128.launch.xml
index 5ebd3bf9..31967ea9 100644
--- 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="$(var container_name)"/>
-    <arg name="ptp_profile" value="802.1as"/>
+    <arg name="ptp_profile" value="automotive"/>
     <arg name="ptp_transport_type" value="L2"/>
     <arg name="ptp_switch_type" value="NON_TSN"/>
-    <arg name="ptp_domain" value="1"/>
-    <arg name="setup_sensor" value="false"/>
+    <arg name="ptp_domain" value="0"/>
+    <arg name="setup_sensor" value="true"/>
   </include>
 </launch>
diff --git a/common_sensor_launch/launch/hesai_XT32.launch.xml b/common_sensor_launch/launch/hesai_XT32.launch.xml
index f12affbe..0effc096 100644
--- a/common_sensor_launch/launch/hesai_XT32.launch.xml
+++ b/common_sensor_launch/launch/hesai_XT32.launch.xml
@@ -36,9 +36,9 @@
     <arg name="vehicle_mirror_param_file" value="$(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)"/>