From b0909eba307764f4500a791272cfed7a4a3f8721 Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Mon, 19 Feb 2024 09:07:56 +0900
Subject: [PATCH] chore: separate angle_range param for blockage

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
 aip_x2_launch/launch/lidar.launch.xml                | 8 ++++++++
 aip_x2_launch/launch/pandar_node_container.launch.py | 3 ++-
 2 files changed, 10 insertions(+), 1 deletion(-)

diff --git a/aip_x2_launch/launch/lidar.launch.xml b/aip_x2_launch/launch/lidar.launch.xml
index a1c8f5f6..35dd07e4 100644
--- a/aip_x2_launch/launch/lidar.launch.xml
+++ b/aip_x2_launch/launch/lidar.launch.xml
@@ -19,6 +19,7 @@
         <arg name="gps_port" value="10121" />
         <arg name="scan_phase" value="270.0" />
         <arg name="angle_range" value="[90.0, 270.0]"/>
+        <arg name="blockage_diag_angle_range" value="[90.0, 270.0]"/>
         <arg name="distance_range" value="[0.5, 200.0]"/>
         <arg name="vertical_bins" value ="40" />
         <arg name="horizontal_ring_id" value="12" />
@@ -41,6 +42,7 @@
         <arg name="gps_port" value="10131" />
         <arg name="scan_phase" value="270.0" />
         <arg name="angle_range" value="[90.0, 270.0]"/>
+        <arg name="blockage_diag_angle_range" value="[90.0, 270.0]"/>
         <arg name="distance_range" value="[0.1, 7.5]"/>
         <arg name="vertical_bins" value ="64" />
         <arg name="horizontal_ring_id" value="40" />
@@ -62,6 +64,7 @@
         <arg name="gps_port" value="10122" />
         <arg name="scan_phase" value="305.0" />
         <arg name="angle_range" value="[90.0, 305.0]"/>
+        <arg name="blockage_diag_angle_range" value="[90.0, 305.0]"/>
         <arg name="distance_range" value="[0.5, 200.0]"/>
         <arg name="vertical_bins" value ="40" />
         <arg name="horizontal_ring_id" value="12" />
@@ -85,6 +88,7 @@
         <arg name="gps_port" value="10132" />
         <arg name="scan_phase" value="270.0" />
         <arg name="angle_range" value="[90.0, 270.0]"/>
+        <arg name="blockage_diag_angle_range" value="[120.0, 240.0]"/>
         <arg name="distance_range" value="[0.1, 7.5]"/>
         <arg name="vertical_bins" value ="64" />
         <arg name="horizontal_ring_id" value="54" />
@@ -106,6 +110,7 @@
         <arg name="gps_port" value="10123" />
         <arg name="scan_phase" value="270.0" />
         <arg name="angle_range" value="[55.0, 270.0]"/>
+        <arg name="blockage_diag_angle_range" value="[55.0, 270.0]"/>
         <arg name="distance_range" value="[0.5, 200.0]"/>
         <arg name="vertical_bins" value ="40" />
         <arg name="horizontal_ring_id" value="12" />
@@ -129,6 +134,7 @@
         <arg name="gps_port" value="10133" />
         <arg name="scan_phase" value="270.0" />
         <arg name="angle_range" value="[90.0, 270.0]"/>
+        <arg name="blockage_diag_angle_range" value="[120.0, 240.0]"/>
         <arg name="distance_range" value="[0.1, 7.5]"/>
         <arg name="vertical_bins" value ="64" />
         <arg name="horizontal_ring_id" value="54" />
@@ -150,6 +156,7 @@
         <arg name="gps_port" value="10124" />
         <arg name="scan_phase" value="180.0" />
         <arg name="angle_range" value="[90.0, 270.0]"/>
+        <arg name="blockage_diag_angle_range" value="[90.0, 270.0]"/>
         <arg name="distance_range" value="[0.5, 200.0]"/>
         <arg name="vertical_bins" value ="40" />
         <arg name="horizontal_ring_id" value="12" />
@@ -173,6 +180,7 @@
         <arg name="gps_port" value="10134" />
         <arg name="scan_phase" value="180.0" />
         <arg name="angle_range" value="[90.0, 270.0]"/>
+        <arg name="blockage_diag_angle_range" value="[90.0, 270.0]"/>
         <arg name="distance_range" value="[0.1, 7.5]"/>
         <arg name="vertical_bins" value ="64" />
         <arg name="horizontal_ring_id" value="40" />
diff --git a/aip_x2_launch/launch/pandar_node_container.launch.py b/aip_x2_launch/launch/pandar_node_container.launch.py
index cfb39cc4..a0204547 100644
--- a/aip_x2_launch/launch/pandar_node_container.launch.py
+++ b/aip_x2_launch/launch/pandar_node_container.launch.py
@@ -242,7 +242,7 @@ def create_parameter_dict(*args):
         ],
         parameters=[
             {
-                "angle_range": LaunchConfiguration("angle_range"),
+                "angle_range": LaunchConfiguration("blockage_diag_angle_range"),
                 "horizontal_ring_id": LaunchConfiguration("horizontal_ring_id"),
                 "vertical_bins": LaunchConfiguration("vertical_bins"),
                 "model": LaunchConfiguration("model"),
@@ -312,6 +312,7 @@ def add_launch_arg(name: str, default_value=None):
     add_launch_arg("device_ip", "192.168.1.201")
     add_launch_arg("scan_phase", "0.0")
     add_launch_arg("angle_range", "[270.0, 90.0]")
+    add_launch_arg("blockage_diag_angle_range", "[270.0, 90.0]")
     add_launch_arg("distance_range", "[0.1, 200.0]")
     add_launch_arg("return_mode", "Dual")
     add_launch_arg("base_frame", "base_link")