From 9cc4773dab782b02f0753a4c61a5d9ef9fb6f6cb Mon Sep 17 00:00:00 2001
From: kotaro-hihara <kotaro.hihara@tier4.jp>
Date: Thu, 8 Aug 2024 20:54:20 +0900
Subject: [PATCH] update lidar angle range

---
 aip_x2_launch/launch/lidar.launch.xml        | 20 +++++++++-----
 aip_x2_launch/launch/lidar.nebula.launch.xml | 28 +++++++++++++-------
 2 files changed, 33 insertions(+), 15 deletions(-)

diff --git a/aip_x2_launch/launch/lidar.launch.xml b/aip_x2_launch/launch/lidar.launch.xml
index 52f42d05..f59b094e 100644
--- 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
index 062fca3d..656cc26d 100644
--- 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" />