From 8562ae049bd45428d3bff5d9f628929684f5a34a Mon Sep 17 00:00:00 2001
From: j4tfwm6z <j4tfwm6z@tier4.jp>
Date: Fri, 15 Mar 2024 11:53:03 +0900
Subject: [PATCH] feat: add ptp_switch_type to support latest nebula at
 2024/03/15

Signed-off-by: j4tfwm6z <j4tfwm6z@tier4.jp>
---
 aip_xx1_launch/launch/sensing.launch.xml                    | 4 ++--
 common_sensor_launch/launch/hesai_OT128.launch.xml          | 2 ++
 common_sensor_launch/launch/hesai_XT32.launch.xml           | 1 +
 common_sensor_launch/launch/nebula_node_container.launch.py | 4 ++++
 4 files changed, 9 insertions(+), 2 deletions(-)

diff --git a/aip_xx1_launch/launch/sensing.launch.xml b/aip_xx1_launch/launch/sensing.launch.xml
index ba6b935c..e8aa4186 100644
--- a/aip_xx1_launch/launch/sensing.launch.xml
+++ b/aip_xx1_launch/launch/sensing.launch.xml
@@ -33,9 +33,9 @@
     </include>
 
     <!-- Radar Driver -->
-    <include file="$(find-pkg-share aip_xx1_launch)/launch/radar.launch.xml">
+    <!-- <include file="$(find-pkg-share aip_xx1_launch)/launch/radar.launch.xml">
       <arg name="launch_driver" value="$(var launch_driver)" />
-    </include>
+    </include> -->
 
     <!-- Vehicle twist -->
     <include file="$(find-pkg-share vehicle_velocity_converter)/launch/vehicle_velocity_converter.launch.xml">
diff --git a/common_sensor_launch/launch/hesai_OT128.launch.xml b/common_sensor_launch/launch/hesai_OT128.launch.xml
index 63b755a1..7d4713fd 100644
--- a/common_sensor_launch/launch/hesai_OT128.launch.xml
+++ b/common_sensor_launch/launch/hesai_OT128.launch.xml
@@ -34,6 +34,8 @@
     <arg name="container_name" value="$(var container_name)"/>
     <arg name="ptp_profile" value="802.1as"/>
     <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"/>
   </include>
 </launch>
diff --git a/common_sensor_launch/launch/hesai_XT32.launch.xml b/common_sensor_launch/launch/hesai_XT32.launch.xml
index a1a50dbc..c6ea9b64 100644
--- a/common_sensor_launch/launch/hesai_XT32.launch.xml
+++ b/common_sensor_launch/launch/hesai_XT32.launch.xml
@@ -33,6 +33,7 @@
     <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="setup_sensor" value="true"/>
     <arg name="retry_hw" value="true"/>
diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py
index 9047cf18..7b6ee0c2 100644
--- a/common_sensor_launch/launch/nebula_node_container.launch.py
+++ b/common_sensor_launch/launch/nebula_node_container.launch.py
@@ -276,6 +276,8 @@ def create_parameter_dict(*args):
                     "setup_sensor",
                     "ptp_profile",
                     "ptp_transport_type",
+                    "ptp_switch_type",
+                    "ptp_domain",
                     "retry_hw",
                 ),
             }
@@ -329,6 +331,8 @@ def add_launch_arg(name: str, default_value=None, description=None):
     add_launch_arg("container_name", "nebula_node_container")
     add_launch_arg("ptp_profile", "1588v2")
     add_launch_arg("ptp_transport_type", "L2")
+    add_launch_arg("ptp_switch_type", "TSN")
+    add_launch_arg("ptp_domain", "0")
     add_launch_arg("output_as_sensor_frame", "True", "output final pointcloud in sensor frame")
     add_launch_arg("diag_span", "1000", "")
     add_launch_arg("delay_monitor_ms", "2000", "")