update lidar angle range

tier4 · Aug 8, 2024 · 9cc4773 · 9cc4773
1 parent 2796f35
commit 9cc4773
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Showing 2 changed files with 33 additions and 15 deletions.
diff --git a/aip_x2_launch/launch/lidar.launch.xml b/aip_x2_launch/launch/lidar.launch.xml
@@ -45,10 +45,14 @@
         <arg name="device_ip" value="192.168.120.211" />
         <arg name="lidar_port" value="2331" />
         <arg name="gps_port" value="10131" />
-        <arg name="scan_phase" value="300.0" />
-        <arg name="angle_range" value="[120.0, 300.0]"/>
+        <arg name="scan_phase" value="270.0" />
+        <arg name="angle_range" value="[90.0, 270.0]"/>
+        <arg name="blockage_range" value="[90.0, 270.0]"/>
+        <!--for j6#1#2-->
+        <!--arg name="scan_phase" value="300.0" /-->
+        <!--arg name="angle_range" value="[120.0, 300.0]"/-->
+        <!--arg name="blockage_range" value="[120.0, 300.0]"/-->
         <arg name="distance_range" value="[0.1, 20.0]"/>
-        <arg name="blockage_range" value="[120.0, 300.0]"/>
         <arg name="vertical_bins" value ="64" />
         <arg name="horizontal_ring_id" value="40" />
         <arg name="return_mode" value="First" />
@@ -201,10 +205,14 @@
         <arg name="device_ip" value="192.168.120.214" />
         <arg name="lidar_port" value="2334" />
         <arg name="gps_port" value="10134" />
-        <arg name="scan_phase" value="200.0" />
-        <arg name="angle_range" value="[110.0, 290.0]"/>
+        <arg name="scan_phase" value="180.0" />
+        <arg name="angle_range" value="[90.0, 270.0]"/>
+        <arg name="blockage_range" value="[90.0, 270.0]"/>
+        <!--for j6#1#2-->
+        <!--arg name="scan_phase" value="200.0" /-->
+        <!--arg name="angle_range" value="[110.0, 290.0]"/-->
+        <!--arg name="blockage_range" value="[110.0, 290.0]"/-->
         <arg name="distance_range" value="[0.1, 20.0]"/>
-        <arg name="blockage_range" value="[110.0, 290.0]"/>
         <arg name="vertical_bins" value ="64" />
         <arg name="horizontal_ring_id" value="40" />
         <arg name="is_channel_order_top2down" value="false"/>

diff --git a/aip_x2_launch/launch/lidar.nebula.launch.xml b/aip_x2_launch/launch/lidar.nebula.launch.xml
@@ -52,12 +52,17 @@
         <arg name="sensor_ip" value="192.168.120.211" />
         <arg name="data_port" value="2331" />
         <arg name="gnss_port" value="10131" />
-        <arg name="scan_phase" value="310.0" />
-        <arg name="cloud_min_angle" value="120"/>
-        <arg name="cloud_max_angle" value="300"/>
+        <arg name="scan_phase" value="280.0" />
+        <arg name="cloud_min_angle" value="90"/>
+        <arg name="cloud_max_angle" value="270"/>
+        <arg name="blockage_range" value="[90.0, 270.0]"/>
+        <!--for j6#1#2-->
+        <!--arg name="scan_phase" value="310.0" /-->
+        <!--arg name="cloud_min_angle" value="120"/-->
+        <!--arg name="cloud_max_angle" value="300"/-->
+        <!--arg name="blockage_range" value="[90.0, 270.0]"/-->
         <arg name="min_range" value="0.1"/>
-        <arg name="max_range" value="20.0"/>
-        <arg name="blockage_range" value="[120.0, 300.0]"/>
+        <arg name="max_range" value="20.0"/>        
         <arg name="vertical_bins" value ="64" />
         <arg name="horizontal_ring_id" value="40" />
         <arg name="return_mode" value="First" />
@@ -244,12 +249,17 @@
         <arg name="sensor_ip" value="192.168.120.214" />
         <arg name="data_port" value="2334" />
         <arg name="gnss_port" value="10134" />
-        <arg name="scan_phase" value="200.0" />
-        <arg name="cloud_min_angle" value="110"/>
-        <arg name="cloud_max_angle" value="290"/>
+        <arg name="scan_phase" value="180.0" />
+        <arg name="cloud_min_angle" value="90"/>
+        <arg name="cloud_max_angle" value="270"/>
+        <arg name="blockage_range" value="[90.0, 270.0]"/>
+        <!--for j6#1#2-->
+        <!--arg name="scan_phase" value="200.0" /-->
+        <!--arg name="cloud_min_angle" value="110"/-->
+        <!--arg name="cloud_max_angle" value="290"/-->
+        <!--arg name="blockage_range" value="[110.0, 290.0]"/-->
         <arg name="min_range" value="0.1"/>
         <arg name="max_range" value="20.0"/>
-        <arg name="blockage_range" value="[110.0, 290.0]"/>
         <arg name="vertical_bins" value ="64" />
         <arg name="horizontal_ring_id" value="40" />
         <arg name="return_mode" value="First" />