add remove_interval_ring arg

tier4 · Sep 12, 2024 · ab44d16 · ab44d16
1 parent 6f4bd6d
commit ab44d16
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Showing 4 changed files with 19 additions and 2 deletions.
diff --git a/aip_x2_gen2_launch/launch/hesai_OT128.launch.xml b/aip_x2_gen2_launch/launch/hesai_OT128.launch.xml
@@ -31,8 +31,10 @@
   <arg name="vehicle_mirror_param_file" default="$(var vehicle_mirror_param_file)" />
   <arg name="blockage_diagnostics_param_file" default="$(find-pkg-share aip_x2_gen2_launch)/config/blockage_diagnostics_param_file.yaml" />
 
+  <!-- ring filter params -->
   <arg name="enable_ring_filter" default="true"/>
   <arg name="ring_interval" default="2"/>
+  <arg name="remove_interval_ring" default="true"/>
 
   <include file="$(find-pkg-share aip_x2_gen2_launch)/launch/nebula_node_container.launch.py">
     <arg name="launch_driver" value="$(var launch_driver)"/>
@@ -70,6 +72,7 @@
 
     <arg name="enable_ring_filter" value="$(var enable_ring_filter)"/>
     <arg name="ring_interval" value="$(var ring_interval)"/>
+    <arg name="remove_interval_ring" value="$(var remove_interval_ring)"/>
 
   </include>
 </launch>
diff --git a/aip_x2_gen2_launch/launch/hesai_QT128.launch.xml b/aip_x2_gen2_launch/launch/hesai_QT128.launch.xml
@@ -32,6 +32,7 @@
   <arg name="vehicle_mirror_param_file" default="$(var vehicle_mirror_param_file)" />
   <arg name="blockage_diagnostics_param_file" default="$(find-pkg-share aip_x2_gen2_launch)/config/blockage_diagnostics_param_file.yaml" />
 
+  <!-- ring filter params -->
   <arg name="enable_ring_filter" default="false"/>
   <arg name="ring_interval" default="2"/>
 
@@ -69,7 +70,7 @@
     <arg name="blockage_diagnostics_param_file" value="$(var blockage_diagnostics_param_file)"/>
 
     <arg name="enable_ring_filter" value="$(var enable_ring_filter)"/>
-    <arg name="ring_interval" value="$(var ring_interval)"/>
+    <!-- <arg name="ring_interval" value="$(var ring_interval)"/> -->
 
   </include>
 </launch>
diff --git a/aip_x2_gen2_launch/launch/lidar.launch.xml b/aip_x2_gen2_launch/launch/lidar.launch.xml
@@ -13,7 +13,13 @@
   <arg name="dual_return_filter_param_file" default="$(find-pkg-share aip_x2_gen2_launch)/config/dual_return_filter.param.yaml"/>
   <arg name="enable_blockage_diag" default="false"/>
 
-  <arg name="ring_interval" default="2"/>
+  <!-- use 2/3 of points -->
+  <arg name="ring_interval" default="3"/>
+  <arg name="remove_interval_ring" default="true"/>
+
+  <!-- use 1/3 of points -->
+  <!-- <arg name="ring_interval" default="3"/>
+  <arg name="remove_interval_ring" default="false"/> -->
 
   <group>
     <push-ros-namespace namespace="lidar" />
@@ -61,6 +67,7 @@
 
         <arg name="enable_ring_filter" value="true" />
         <arg name="ring_interval" value="$(var ring_interval)" />
+        <arg name="remove_interval_ring" value="$(var remove_interval_ring)" />
       </include>
     </group>
 
@@ -98,6 +105,7 @@
 
         <arg name="enable_ring_filter" value="false" />
         <arg name="ring_interval" value="$(var ring_interval)" />
+        <arg name="remove_interval_ring" value="$(var remove_interval_ring)" />
       </include>
     </group>
 
@@ -204,6 +212,7 @@
 
         <arg name="enable_ring_filter" value="true" />
         <arg name="ring_interval" value="$(var ring_interval)" />
+        <arg name="remove_interval_ring" value="$(var remove_interval_ring)" />
       </include>
     </group>
 
@@ -241,6 +250,7 @@
 
         <arg name="enable_ring_filter" value="false" />
         <arg name="ring_interval" value="$(var ring_interval)" />
+        <arg name="remove_interval_ring" value="$(var remove_interval_ring)" />
       </include>
     </group>
 

diff --git a/aip_x2_gen2_launch/launch/nebula_node_container.launch.py b/aip_x2_gen2_launch/launch/nebula_node_container.launch.py
@@ -296,6 +296,7 @@ def str2vector(string):
         parameters=[
             {
                 "ring_interval": LaunchConfiguration("ring_interval"),
+                "remove_interval_ring": LaunchConfiguration("remove_interval_ring"),
             }
         ],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
@@ -404,8 +405,10 @@ def add_launch_arg(name: str, default_value=None, description=None):
     add_launch_arg("max_azimuth_deg", "225.0")
     add_launch_arg("enable_blockage_diag", "true")
 
+    # ring filter params
     add_launch_arg("enable_ring_filter", "true")
     add_launch_arg("ring_interval", "2")
+    add_launch_arg("remove_interval_ring", "true")
 
     set_container_executable = SetLaunchConfiguration(
         "container_executable",