fix: xx1 launch

Signed-off-by: badai-nguyen <[email protected]>
tier4 · Dec 26, 2023 · 8e3ac8b · 8e3ac8b
1 parent ca44474
commit 8e3ac8b
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Showing 3 changed files with 11 additions and 12 deletions.
diff --git a/aip_xx1_launch/launch/lidar.launch.xml b/aip_xx1_launch/launch/lidar.launch.xml
@@ -7,7 +7,7 @@
   <arg name="vehicle_mirror_param_file"/>
   <arg name="use_pointcloud_container" default="false" description="launch pointcloud container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
-  <arg name="launch_blockage_diag" default="true"/>
+  <arg name="enable_blockage_diag" default="true"/>
 
   <group>
     <push-ros-namespace namespace="lidar"/>
@@ -30,7 +30,7 @@
         <arg name="horizontal_ring_id" value="64"/>
         <arg name="is_channel_order_top2down" value="false"/>
         <arg name="horizontal_resolution" value="0.4"/>
-        <arg name="launch_blockage_diag" value="$(var launch_blockage_diag)"/>
+        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
       </include>
     </group>
 
@@ -54,7 +54,7 @@
         <arg name="horizontal_ring_id" value="0"/>
         <arg name="is_channel_order_top2down" value="false"/>
         <arg name="horizontal_resolution" value="0.4"/>
-        <arg name="launch_blockage_diag" value="$(var launch_blockage_diag)"/>
+        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
       </include>
     </group>
 
@@ -78,7 +78,7 @@
         <arg name="horizontal_ring_id" value="0"/>
         <arg name="is_channel_order_top2down" value="false"/>
         <arg name="horizontal_resolution" value="0.4"/>
-        <arg name="launch_blockage_diag" value="$(var launch_blockage_diag)"/>
+        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
       </include>
     </group>
 
@@ -102,7 +102,7 @@
         <arg name="horizontal_ring_id" value="0"/>
         <arg name="is_channel_order_top2down" value="false"/>
         <arg name="horizontal_resolution" value="0.4"/>
-        <arg name="launch_blockage_diag" value="$(var launch_blockage_diag)"/>
+        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
       </include>
     </group>
 

diff --git a/common_sensor_launch/config/blockage_diagnostics_param_file.yaml b/common_sensor_launch/config/blockage_diagnostics_param_file.yaml
@@ -9,5 +9,3 @@
     dust_kernel_size: 2
     dust_buffering_frames: 10
     dust_buffering_interval: 1
-    distance_coefficient: 327.67
-    horizontal_resolution: 0.4
diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py
@@ -55,12 +55,11 @@ def get_vehicle_info(context):
     return p
 
 
-
 def launch_setup(context, *args, **kwargs):
     def load_composable_node_param(param_path):
         with open(LaunchConfiguration(param_path).perform(context), "r") as f:
             return yaml.safe_load(f)["/**"]["ros__parameters"]
-    
+
     def create_parameter_dict(*args):
         result = {}
         for x in args:
@@ -273,10 +272,10 @@ def create_parameter_dict(*args):
     blockage_diag_loader = LoadComposableNodes(
         composable_node_descriptions=[blockage_diag_component],
         target_container=target_container,
-        condition=IfCondition(LaunchConfiguration("launch_blockage_diag")),
+        condition=IfCondition(LaunchConfiguration("enable_blockage_diag")),
     )
 
-    return [container, component_loader, driver_component_loader,blockage_diag_loader]
+    return [container, component_loader, driver_component_loader, blockage_diag_loader]
 
 
 def generate_launch_description():
@@ -315,11 +314,13 @@ def add_launch_arg(name: str, default_value=None, description=None):
     add_launch_arg("use_intra_process", "False", "use ROS 2 component container communication")
     add_launch_arg("use_pointcloud_container", "false")
     add_launch_arg("container_name", "nebula_node_container")
-
+
+    add_launch_arg("enable_blockage_diag", "true")
     add_launch_arg("angle_range", "[0.0, 360]")
     add_launch_arg("horizontal_ring_id", "64")
     add_launch_arg("vertical_bins", "128")
     add_launch_arg("is_channel_order_top2down", "true")
+    add_launch_arg("horizontal_resolution", "0.4")
     add_launch_arg(
         "blockage_diagnostics_param_file",
         [FindPackageShare("common_sensor_launch"), "/config/blockage_diagnostics_param_file.yaml"],