From 8e112d47a90fe34043c02086bc99c99de3174d74 Mon Sep 17 00:00:00 2001
From: kotaro-hihara <kotaro.hihara@tier4.jp>
Date: Wed, 6 Nov 2024 17:07:17 +0900
Subject: [PATCH] feat(aip_x2_gen2_launch): add sync_angle and cut angle (#339)

---
 aip_x2_gen2_launch/launch/hesai_OT128.launch.xml | 6 ++++--
 aip_x2_gen2_launch/launch/hesai_QT128.launch.xml | 6 ++++--
 2 files changed, 8 insertions(+), 4 deletions(-)

diff --git a/aip_x2_gen2_launch/launch/hesai_OT128.launch.xml b/aip_x2_gen2_launch/launch/hesai_OT128.launch.xml
index ee892983..e9cd6805 100644
--- a/aip_x2_gen2_launch/launch/hesai_OT128.launch.xml
+++ b/aip_x2_gen2_launch/launch/hesai_OT128.launch.xml
@@ -9,7 +9,8 @@
   <arg name="sensor_ip" default="192.168.1.201"/>
   <arg name="host_ip" default="255.255.255.255"/>
   <arg name="data_port" default="2368"/>
-  <arg name="scan_phase" default="0.0"/>
+  <arg name="sync_angle" default="0"/>
+  <arg name="cut_angle" default="0"/>
   <arg name="cloud_min_angle" default="90"/>
   <arg name="cloud_max_angle" default="270"/>
   <arg name="dual_return_distance_threshold" default="0.1"/>
@@ -40,7 +41,8 @@
     <arg name="sensor_ip" value="$(var sensor_ip)"/>
     <arg name="host_ip" value="$(var host_ip)"/>
     <arg name="data_port" value="$(var data_port)"/>
-    <arg name="scan_phase" value="$(var scan_phase)"/>
+    <arg name="sync_angle" value="$(var sync_angle)"/>
+    <arg name="cut_angle" value="$(var cut_angle)"/>
     <arg name="cloud_min_angle" value="$(var cloud_min_angle)"/>
     <arg name="cloud_max_angle" value="$(var cloud_max_angle)"/>
     <arg name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/>
diff --git a/aip_x2_gen2_launch/launch/hesai_QT128.launch.xml b/aip_x2_gen2_launch/launch/hesai_QT128.launch.xml
index 64825178..80c73b0b 100644
--- a/aip_x2_gen2_launch/launch/hesai_QT128.launch.xml
+++ b/aip_x2_gen2_launch/launch/hesai_QT128.launch.xml
@@ -9,7 +9,8 @@
   <arg name="sensor_ip" default="192.168.1.201"/>
   <arg name="host_ip" default="255.255.255.255"/>
   <arg name="data_port" default="2368"/>
-  <arg name="scan_phase" default="0.0"/>
+  <arg name="sync_angle" default="0"/>
+  <arg name="cut_angle" default="0"/>
   <arg name="cloud_min_angle" default="0"/>
   <arg name="cloud_max_angle" default="360"/>
   <arg name="dual_return_distance_threshold" default="0.1"/>
@@ -41,7 +42,8 @@
     <arg name="sensor_ip" value="$(var sensor_ip)"/>
     <arg name="host_ip" value="$(var host_ip)"/>
     <arg name="data_port" value="$(var data_port)"/>
-    <arg name="scan_phase" value="$(var scan_phase)"/>
+    <arg name="sync_angle" value="$(var sync_angle)"/>
+    <arg name="cut_angle" value="$(var cut_angle)"/>
     <arg name="cloud_min_angle" value="$(var cloud_min_angle)"/>
     <arg name="cloud_max_angle" value="$(var cloud_max_angle)"/>
     <arg name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/>