diff --git a/aip_x2_gen2_launch/config/point_filters_full.param.yaml b/aip_x2_gen2_launch/config/point_filters/dafault/point_filters_full.param.yaml
similarity index 100%
rename from aip_x2_gen2_launch/config/point_filters_full.param.yaml
rename to aip_x2_gen2_launch/config/point_filters/dafault/point_filters_full.param.yaml
diff --git a/aip_x2_gen2_launch/config/point_filters_left_upper.param.yaml b/aip_x2_gen2_launch/config/point_filters/dafault/point_filters_left_upper.param.yaml
similarity index 100%
rename from aip_x2_gen2_launch/config/point_filters_left_upper.param.yaml
rename to aip_x2_gen2_launch/config/point_filters/dafault/point_filters_left_upper.param.yaml
diff --git a/aip_x2_gen2_launch/config/point_filters_one_half.param.yaml b/aip_x2_gen2_launch/config/point_filters/dafault/point_filters_one_half.param.yaml
similarity index 100%
rename from aip_x2_gen2_launch/config/point_filters_one_half.param.yaml
rename to aip_x2_gen2_launch/config/point_filters/dafault/point_filters_one_half.param.yaml
diff --git a/aip_x2_gen2_launch/config/point_filters_one_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/dafault/point_filters_one_third.param.yaml
similarity index 100%
rename from aip_x2_gen2_launch/config/point_filters_one_third.param.yaml
rename to aip_x2_gen2_launch/config/point_filters/dafault/point_filters_one_third.param.yaml
diff --git a/aip_x2_gen2_launch/config/point_filters_right_upper.param.yaml b/aip_x2_gen2_launch/config/point_filters/dafault/point_filters_right_upper.param.yaml
similarity index 100%
rename from aip_x2_gen2_launch/config/point_filters_right_upper.param.yaml
rename to aip_x2_gen2_launch/config/point_filters/dafault/point_filters_right_upper.param.yaml
diff --git a/aip_x2_gen2_launch/config/point_filters_two_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/dafault/point_filters_two_third.param.yaml
similarity index 100%
rename from aip_x2_gen2_launch/config/point_filters_two_third.param.yaml
rename to aip_x2_gen2_launch/config/point_filters/dafault/point_filters_two_third.param.yaml
diff --git a/aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_full.param.yaml b/aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_full.param.yaml
new file mode 100644
index 00000000..33d53465
--- /dev/null
+++ b/aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_full.param.yaml
@@ -0,0 +1,41 @@
+/**:
+ ros__parameters:
+ point_filters: |
+ {
+ "ring_section_filter": [
+ [0, 60,128], [0, 232,300],
+ [1, 60,124], [1, 236,300],
+ [2, 60,122], [2, 238,300],
+ [3, 60,120], [3, 240,300],
+ [4, 60,118], [4, 242,300],
+ [5, 60,118], [5, 242,300],
+ [6, 60,114], [6, 246,300],
+ [7, 60,114], [7, 246,300],
+ [8, 60,112], [8, 248,300],
+ [9, 60,112], [9, 248,300],
+ [10, 60,110], [10, 250,300],
+ [11, 60,110], [11, 250,300],
+ [12, 60,108], [12, 252,300],
+ [13, 60,108], [13, 252,300],
+ [14, 60,108], [14, 252,300],
+ [15, 60,108], [15, 252,300],
+ [16, 60,108], [16, 252,300],
+ [17, 60,108], [17, 252,300],
+ [18, 60,106], [18, 254,300],
+ [19, 60,106], [19, 254,300],
+ [20, 60,102], [20, 258,300],
+ [21, 60,102], [21, 258,300],
+ [22, 60,100], [22, 260,300],
+ [23, 60,100], [23, 260,300],
+ [24, 60,100], [24, 260,300],
+ [25, 60,100], [25, 260,300],
+ [26, 60,100], [26, 260,300],
+ [27, 60,100], [27, 260,300],
+ [28, 60,100], [28, 260,300],
+ [29, 60,100], [29, 260,300],
+ [30, 60,94], [30, 266,300],
+ [31, 60,94], [31, 266,300],
+ [32, 60,94], [32, 266,300],
+ [33, 60,94], [33, 266,300]
+ ]
+ }
diff --git a/aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_one_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_one_third.param.yaml
new file mode 100644
index 00000000..71ba0993
--- /dev/null
+++ b/aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_one_third.param.yaml
@@ -0,0 +1,126 @@
+/**:
+ ros__parameters:
+ point_filters: |
+ {
+ "ring_section_filter": [
+ [0, 60,128], [0, 232,300],
+ [1, 60,124], [1, 236,300],
+ [2, 60,122], [2, 238,300],
+ [3, 60,120], [3, 240,300],
+ [4, 60,118], [4, 242,300],
+ [5, 60,118], [5, 242,300],
+ [6, 60,114], [6, 246,300],
+ [7, 60,114], [7, 246,300],
+ [8, 60,112], [8, 248,300],
+ [9, 60,112], [9, 248,300],
+ [10, 60,110], [10, 250,300],
+ [11, 60,110], [11, 250,300],
+ [12, 60,108], [12, 252,300],
+ [13, 60,108], [13, 252,300],
+ [14, 60,108], [14, 252,300],
+ [15, 60,108], [15, 252,300],
+ [16, 60,108], [16, 252,300],
+ [17, 60,108], [17, 252,300],
+ [18, 60,106], [18, 254,300],
+ [19, 60,106], [19, 254,300],
+ [20, 60,102], [20, 258,300],
+ [21, 60,102], [21, 258,300],
+ [22, 60,100], [22, 260,300],
+ [23, 60,100], [23, 260,300],
+ [24, 60,100], [24, 260,300],
+ [25, 60,100], [25, 260,300],
+ [26, 60,100], [26, 260,300],
+ [27, 60,100], [27, 260,300],
+ [28, 60,100], [28, 260,300],
+ [29, 60,100], [29, 260,300],
+ [30, 60,94], [30, 266,300],
+ [31, 60,94], [31, 266,300],
+ [32, 60,94], [32, 266,300],
+ [33, 60,94], [33, 266,300],
+ [1, 0, 360],
+ [2, 0, 360],
+ [4, 0, 360],
+ [5, 0, 360],
+ [7, 0, 360],
+ [8, 0, 360],
+ [10, 0, 360],
+ [11, 0, 360],
+ [13, 0, 360],
+ [14, 0, 360],
+ [16, 0, 360],
+ [17, 0, 360],
+ [19, 0, 360],
+ [20, 0, 360],
+ [22, 0, 360],
+ [23, 0, 360],
+ [25, 0, 360],
+ [26, 0, 360],
+ [28, 0, 360],
+ [29, 0, 360],
+ [31, 0, 360],
+ [32, 0, 360],
+ [34, 0, 360],
+ [35, 0, 360],
+ [37, 0, 360],
+ [38, 0, 360],
+ [40, 0, 360],
+ [41, 0, 360],
+ [43, 0, 360],
+ [44, 0, 360],
+ [46, 0, 360],
+ [47, 0, 360],
+ [49, 0, 360],
+ [50, 0, 360],
+ [52, 0, 360],
+ [53, 0, 360],
+ [55, 0, 360],
+ [56, 0, 360],
+ [58, 0, 360],
+ [59, 0, 360],
+ [61, 0, 360],
+ [62, 0, 360],
+ [64, 0, 360],
+ [65, 0, 360],
+ [67, 0, 360],
+ [68, 0, 360],
+ [70, 0, 360],
+ [71, 0, 360],
+ [73, 0, 360],
+ [74, 0, 360],
+ [76, 0, 360],
+ [77, 0, 360],
+ [79, 0, 360],
+ [80, 0, 360],
+ [82, 0, 360],
+ [83, 0, 360],
+ [85, 0, 360],
+ [86, 0, 360],
+ [88, 0, 360],
+ [89, 0, 360],
+ [91, 0, 360],
+ [92, 0, 360],
+ [94, 0, 360],
+ [95, 0, 360],
+ [97, 0, 360],
+ [98, 0, 360],
+ [100, 0, 360],
+ [101, 0, 360],
+ [103, 0, 360],
+ [104, 0, 360],
+ [106, 0, 360],
+ [107, 0, 360],
+ [109, 0, 360],
+ [110, 0, 360],
+ [112, 0, 360],
+ [113, 0, 360],
+ [115, 0, 360],
+ [116, 0, 360],
+ [118, 0, 360],
+ [119, 0, 360],
+ [121, 0, 360],
+ [122, 0, 360],
+ [124, 0, 360],
+ [125, 0, 360],
+ [127, 0, 360]
+ ]
+ }
diff --git a/aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_two_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_two_third.param.yaml
new file mode 100644
index 00000000..0ccc1830
--- /dev/null
+++ b/aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_two_third.param.yaml
@@ -0,0 +1,84 @@
+/**:
+ ros__parameters:
+ point_filters: |
+ {
+ "ring_section_filter": [
+ [0, 60,128], [0, 232,300],
+ [1, 60,124], [1, 236,300],
+ [2, 60,122], [2, 238,300],
+ [3, 60,120], [3, 240,300],
+ [4, 60,118], [4, 242,300],
+ [5, 60,118], [5, 242,300],
+ [6, 60,114], [6, 246,300],
+ [7, 60,114], [7, 246,300],
+ [8, 60,112], [8, 248,300],
+ [9, 60,112], [9, 248,300],
+ [10, 60,110], [10, 250,300],
+ [11, 60,110], [11, 250,300],
+ [12, 60,108], [12, 252,300],
+ [13, 60,108], [13, 252,300],
+ [14, 60,108], [14, 252,300],
+ [15, 60,108], [15, 252,300],
+ [16, 60,108], [16, 252,300],
+ [17, 60,108], [17, 252,300],
+ [18, 60,106], [18, 254,300],
+ [19, 60,106], [19, 254,300],
+ [20, 60,102], [20, 258,300],
+ [21, 60,102], [21, 258,300],
+ [22, 60,100], [22, 260,300],
+ [23, 60,100], [23, 260,300],
+ [24, 60,100], [24, 260,300],
+ [25, 60,100], [25, 260,300],
+ [26, 60,100], [26, 260,300],
+ [27, 60,100], [27, 260,300],
+ [28, 60,100], [28, 260,300],
+ [29, 60,100], [29, 260,300],
+ [30, 60,94], [30, 266,300],
+ [31, 60,94], [31, 266,300],
+ [32, 60,94], [32, 266,300],
+ [33, 60,94], [33, 266,300],
+ [0, 0, 360],
+ [3, 0, 360],
+ [6, 0, 360],
+ [9, 0, 360],
+ [12, 0, 360],
+ [15, 0, 360],
+ [18, 0, 360],
+ [21, 0, 360],
+ [24, 0, 360],
+ [27, 0, 360],
+ [30, 0, 360],
+ [33, 0, 360],
+ [36, 0, 360],
+ [39, 0, 360],
+ [42, 0, 360],
+ [45, 0, 360],
+ [48, 0, 360],
+ [51, 0, 360],
+ [54, 0, 360],
+ [57, 0, 360],
+ [60, 0, 360],
+ [63, 0, 360],
+ [66, 0, 360],
+ [69, 0, 360],
+ [72, 0, 360],
+ [75, 0, 360],
+ [78, 0, 360],
+ [81, 0, 360],
+ [84, 0, 360],
+ [87, 0, 360],
+ [90, 0, 360],
+ [93, 0, 360],
+ [96, 0, 360],
+ [99, 0, 360],
+ [102, 0, 360],
+ [105, 0, 360],
+ [108, 0, 360],
+ [111, 0, 360],
+ [114, 0, 360],
+ [117, 0, 360],
+ [120, 0, 360],
+ [123, 0, 360],
+ [126, 0, 360]
+ ]
+ }
diff --git a/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_full.param.yaml b/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_full.param.yaml
new file mode 100644
index 00000000..86c11c7f
--- /dev/null
+++ b/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_full.param.yaml
@@ -0,0 +1,72 @@
+/**:
+ ros__parameters:
+ point_filters: |
+ {
+ "ring_section_filter": [
+ [0, 60, 93],[0, 266, 300],
+ [1, 60, 93],[1, 266, 300],
+ [2, 60, 93],[2, 266, 300],
+ [3, 60, 93],[3, 266, 300],
+ [4, 268, 300],
+ [5, 268, 300],
+ [6, 268, 300],
+ [7, 268, 300],
+ [8, 268, 300],
+ [10, 272, 300],
+ [11, 272, 300],
+ [12, 272, 300],
+ [13, 272, 300],
+ [14, 266, 300],
+ [15, 266, 300],
+ [16, 266, 300],
+ [18, 263, 300],
+ [19, 263, 300],
+ [20, 263, 300],
+ [22, 270, 300],
+ [23, 270, 300],
+ [24, 270, 300],
+ [30, 267, 300],
+ [31, 267, 300],
+ [32, 267, 300],
+ [38, 272, 300],
+ [45, 60, 93],[45, 267, 300],
+ [52, 195, 300],
+ [58, 261, 300],
+ [59, 261, 300],
+ [60, 261, 300],
+ [72, 269, 300],
+ [73, 269, 300],
+ [74, 269, 300],
+ [88, 273, 300],
+ [89, 273, 300],
+ [90, 273, 300],
+ [91, 60, 93],[91, 273, 300],
+ [92, 60, 93],[92, 268, 300],
+ [93, 60, 93],[93, 273, 300],
+ [94, 60, 93],[94, 273, 300],
+ [95, 60, 93],[95, 273, 300],
+ [96, 60, 93],[96, 273, 300],
+ [97, 60, 93],[97, 273, 300],
+ [98, 60, 93],[98, 273, 300],
+ [99, 60, 93],[99, 273, 300],
+ [100, 60, 93.5],[100, 273, 300],
+ [101, 273, 300],
+ [102, 273, 300],
+ [103, 274, 300],
+ [104, 274, 300],
+ [105, 275, 300],
+ [106, 275, 300],
+ [107, 275, 300],
+ [108, 275, 300],
+ [112, 60, 93],
+ [116, 60, 93],
+ [120, 60, 93],[120, 265, 300],
+ [121, 60, 93],[121, 265, 300],
+ [122, 60, 93],[122, 265, 300],
+ [123, 60, 94],[123, 265, 300],
+ [124, 60, 94],[124, 265, 300],
+ [125, 60, 97],[125, 256, 300],
+ [126, 60, 97],[126, 256, 300],
+ [127, 60, 97],[127, 256, 300]
+ ]
+ }
diff --git a/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_one_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_one_third.param.yaml
new file mode 100644
index 00000000..a61e40e8
--- /dev/null
+++ b/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_one_third.param.yaml
@@ -0,0 +1,157 @@
+/**:
+ ros__parameters:
+ point_filters: |
+ {
+ "ring_section_filter": [
+ [0, 60, 93],[0, 266, 300],
+ [1, 60, 93],[1, 266, 300],
+ [2, 60, 93],[2, 266, 300],
+ [3, 60, 93],[3, 266, 300],
+ [4, 268, 300],
+ [5, 268, 300],
+ [6, 268, 300],
+ [7, 268, 300],
+ [8, 268, 300],
+ [10, 272, 300],
+ [11, 272, 300],
+ [12, 272, 300],
+ [13, 272, 300],
+ [14, 266, 300],
+ [15, 266, 300],
+ [16, 266, 300],
+ [18, 263, 300],
+ [19, 263, 300],
+ [20, 263, 300],
+ [22, 270, 300],
+ [23, 270, 300],
+ [24, 270, 300],
+ [30, 267, 300],
+ [31, 267, 300],
+ [32, 267, 300],
+ [38, 272, 300],
+ [45, 60, 93],[45, 267, 300],
+ [52, 195, 300],
+ [58, 261, 300],
+ [59, 261, 300],
+ [60, 261, 300],
+ [72, 269, 300],
+ [73, 269, 300],
+ [74, 269, 300],
+ [88, 273, 300],
+ [89, 273, 300],
+ [90, 273, 300],
+ [91, 60, 93],[91, 273, 300],
+ [92, 60, 93],[92, 268, 300],
+ [93, 60, 93],[93, 273, 300],
+ [94, 60, 93],[94, 273, 300],
+ [95, 60, 93],[95, 273, 300],
+ [96, 60, 93],[96, 273, 300],
+ [97, 60, 93],[97, 273, 300],
+ [98, 60, 93],[98, 273, 300],
+ [99, 60, 93],[99, 273, 300],
+ [100, 60, 93.5],[100, 273, 300],
+ [101, 273, 300],
+ [102, 273, 300],
+ [103, 274, 300],
+ [104, 274, 300],
+ [105, 275, 300],
+ [106, 275, 300],
+ [107, 275, 300],
+ [108, 275, 300],
+ [112, 60, 93],
+ [116, 60, 93],
+ [120, 60, 93],[120, 265, 300],
+ [121, 60, 93],[121, 265, 300],
+ [122, 60, 93],[122, 265, 300],
+ [123, 60, 94],[123, 265, 300],
+ [124, 60, 94],[124, 265, 300],
+ [125, 60, 97],[125, 256, 300],
+ [126, 60, 97],[126, 256, 300],
+ [127, 60, 97],[127, 256, 300],
+ [1, 0, 360],
+ [2, 0, 360],
+ [4, 0, 360],
+ [5, 0, 360],
+ [7, 0, 360],
+ [8, 0, 360],
+ [10, 0, 360],
+ [11, 0, 360],
+ [13, 0, 360],
+ [14, 0, 360],
+ [16, 0, 360],
+ [17, 0, 360],
+ [19, 0, 360],
+ [20, 0, 360],
+ [22, 0, 360],
+ [23, 0, 360],
+ [25, 0, 360],
+ [26, 0, 360],
+ [28, 0, 360],
+ [29, 0, 360],
+ [31, 0, 360],
+ [32, 0, 360],
+ [34, 0, 360],
+ [35, 0, 360],
+ [37, 0, 360],
+ [38, 0, 360],
+ [40, 0, 360],
+ [41, 0, 360],
+ [43, 0, 360],
+ [44, 0, 360],
+ [46, 0, 360],
+ [47, 0, 360],
+ [49, 0, 360],
+ [50, 0, 360],
+ [52, 0, 360],
+ [53, 0, 360],
+ [55, 0, 360],
+ [56, 0, 360],
+ [58, 0, 360],
+ [59, 0, 360],
+ [61, 0, 360],
+ [62, 0, 360],
+ [64, 0, 360],
+ [65, 0, 360],
+ [67, 0, 360],
+ [68, 0, 360],
+ [70, 0, 360],
+ [71, 0, 360],
+ [73, 0, 360],
+ [74, 0, 360],
+ [76, 0, 360],
+ [77, 0, 360],
+ [79, 0, 360],
+ [80, 0, 360],
+ [82, 0, 360],
+ [83, 0, 360],
+ [85, 0, 360],
+ [86, 0, 360],
+ [88, 0, 360],
+ [89, 0, 360],
+ [91, 0, 360],
+ [92, 0, 360],
+ [94, 0, 360],
+ [95, 0, 360],
+ [97, 0, 360],
+ [98, 0, 360],
+ [100, 0, 360],
+ [101, 0, 360],
+ [103, 0, 360],
+ [104, 0, 360],
+ [106, 0, 360],
+ [107, 0, 360],
+ [109, 0, 360],
+ [110, 0, 360],
+ [112, 0, 360],
+ [113, 0, 360],
+ [115, 0, 360],
+ [116, 0, 360],
+ [118, 0, 360],
+ [119, 0, 360],
+ [121, 0, 360],
+ [122, 0, 360],
+ [124, 0, 360],
+ [125, 0, 360],
+ [127, 0, 360]
+ ]
+ }
diff --git a/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_two_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_two_third.param.yaml
new file mode 100644
index 00000000..ee82ff19
--- /dev/null
+++ b/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_two_third.param.yaml
@@ -0,0 +1,115 @@
+/**:
+ ros__parameters:
+ point_filters: |
+ {
+ "ring_section_filter": [
+ [0, 60, 93],[0, 266, 300],
+ [1, 60, 93],[1, 266, 300],
+ [2, 60, 93],[2, 266, 300],
+ [3, 60, 93],[3, 266, 300],
+ [4, 268, 300],
+ [5, 268, 300],
+ [6, 268, 300],
+ [7, 268, 300],
+ [8, 268, 300],
+ [10, 272, 300],
+ [11, 272, 300],
+ [12, 272, 300],
+ [13, 272, 300],
+ [14, 266, 300],
+ [15, 266, 300],
+ [16, 266, 300],
+ [18, 263, 300],
+ [19, 263, 300],
+ [20, 263, 300],
+ [22, 270, 300],
+ [23, 270, 300],
+ [24, 270, 300],
+ [30, 267, 300],
+ [31, 267, 300],
+ [32, 267, 300],
+ [38, 272, 300],
+ [45, 60, 93],[45, 267, 300],
+ [52, 195, 300],
+ [58, 261, 300],
+ [59, 261, 300],
+ [60, 261, 300],
+ [72, 269, 300],
+ [73, 269, 300],
+ [74, 269, 300],
+ [88, 273, 300],
+ [89, 273, 300],
+ [90, 273, 300],
+ [91, 60, 93],[91, 273, 300],
+ [92, 60, 93],[92, 268, 300],
+ [93, 60, 93],[93, 273, 300],
+ [94, 60, 93],[94, 273, 300],
+ [95, 60, 93],[95, 273, 300],
+ [96, 60, 93],[96, 273, 300],
+ [97, 60, 93],[97, 273, 300],
+ [98, 60, 93],[98, 273, 300],
+ [99, 60, 93],[99, 273, 300],
+ [100, 60, 93.5],[100, 273, 300],
+ [101, 273, 300],
+ [102, 273, 300],
+ [103, 274, 300],
+ [104, 274, 300],
+ [105, 275, 300],
+ [106, 275, 300],
+ [107, 275, 300],
+ [108, 275, 300],
+ [112, 60, 93],
+ [116, 60, 93],
+ [120, 60, 93],[120, 265, 300],
+ [121, 60, 93],[121, 265, 300],
+ [122, 60, 93],[122, 265, 300],
+ [123, 60, 94],[123, 265, 300],
+ [124, 60, 94],[124, 265, 300],
+ [125, 60, 97],[125, 256, 300],
+ [126, 60, 97],[126, 256, 300],
+ [127, 60, 97],[127, 256, 300],
+ [0, 0, 360],
+ [3, 0, 360],
+ [6, 0, 360],
+ [9, 0, 360],
+ [12, 0, 360],
+ [15, 0, 360],
+ [18, 0, 360],
+ [21, 0, 360],
+ [24, 0, 360],
+ [27, 0, 360],
+ [30, 0, 360],
+ [33, 0, 360],
+ [36, 0, 360],
+ [39, 0, 360],
+ [42, 0, 360],
+ [45, 0, 360],
+ [48, 0, 360],
+ [51, 0, 360],
+ [54, 0, 360],
+ [57, 0, 360],
+ [60, 0, 360],
+ [63, 0, 360],
+ [66, 0, 360],
+ [69, 0, 360],
+ [72, 0, 360],
+ [75, 0, 360],
+ [78, 0, 360],
+ [81, 0, 360],
+ [84, 0, 360],
+ [87, 0, 360],
+ [90, 0, 360],
+ [93, 0, 360],
+ [96, 0, 360],
+ [99, 0, 360],
+ [102, 0, 360],
+ [105, 0, 360],
+ [108, 0, 360],
+ [111, 0, 360],
+ [114, 0, 360],
+ [117, 0, 360],
+ [120, 0, 360],
+ [123, 0, 360],
+ [126, 0, 360]
+ ]
+ }
diff --git a/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_full.param.yaml b/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_full.param.yaml
new file mode 100644
index 00000000..2a2b0a5b
--- /dev/null
+++ b/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_full.param.yaml
@@ -0,0 +1,59 @@
+/**:
+ ros__parameters:
+ point_filters: |
+ {
+ "ring_section_filter": [
+ [0, 0, 360],
+ [1, 0, 360],
+ [2, 0, 360],
+ [3, 0, 170],[3, 199.5, 300],
+ [4, 0, 155],[4, 203, 300],
+ [5, 0, 152],[5, 206, 217],[5, 220, 300],
+ [6, 0, 146],[6, 217, 300],
+ [7, 0, 143],[7, 235, 300],
+ [8, 0, 143],[8, 228.5, 300],
+ [9, 0, 142],[9, 228.5, 300],
+ [10, 0, 141],[10, 235, 300],
+ [11, 0, 140],[11, 235, 300],
+ [12, 0, 140],[12, 235, 300],
+ [13, 0, 135],[13, 235, 300],
+ [14, 0, 133],[14, 235, 300],
+ [15, 0, 131],[15, 235, 300],
+ [16, 0, 129],[16, 235, 300],
+ [17, 0, 127],[17, 235, 300],
+ [18, 0, 127],[18, 235, 300],
+ [19, 0, 126],[19, 235, 300],
+ [20, 0, 125],[20, 235, 300],
+ [21, 0, 125],[21, 235, 300],
+ [22, 0, 124],[22, 235, 300],
+ [23, 0, 124],[23, 235, 300],
+ [24, 0, 122],[24, 235, 300],
+ [25, 0, 122],[25, 235, 300],
+ [26, 0, 121],[26, 235, 300],
+ [27, 0, 120],[27, 235, 300],
+ [28, 0, 119],[28, 242, 300],
+ [29, 0, 118],[29, 242, 300],
+ [30, 0, 110],[30, 242, 300],
+ [31, 0, 109],[31, 244, 265],
+ [32, 0, 109],[32, 244, 265],
+ [33, 0, 108],[33, 244, 265],
+ [34, 0, 108],[34, 244, 265],
+ [35, 0, 107],[35, 244, 265],
+ [36, 0, 107],[36, 244, 265],
+ [37, 0, 106],[37, 244, 265],
+ [38, 0, 106],[38, 244, 265],
+ [39, 0, 105],[39, 244, 265],
+ [40, 0, 105],[40, 244, 265],
+ [41, 0, 104],[41, 244, 265],
+ [42, 0, 104],[42, 244, 265],
+ [43, 0, 103],[43, 244, 265],
+ [44, 0, 102],
+ [45, 0, 101],
+ [46, 0, 96],
+ [47, 0, 95],
+ [48, 0, 95],
+ [49, 0, 94],
+ [50, 0, 93],
+ [51, 0, 93]
+ ]
+ }
diff --git a/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_one_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_one_third.param.yaml
new file mode 100644
index 00000000..d05dd26f
--- /dev/null
+++ b/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_one_third.param.yaml
@@ -0,0 +1,144 @@
+/**:
+ ros__parameters:
+ point_filters: |
+ {
+ "ring_section_filter": [
+ [0, 0, 360],
+ [1, 0, 360],
+ [2, 0, 170],[2, 192, 300],
+ [3, 0, 160],[3, 199.5, 300],
+ [4, 0, 155],[4, 203, 300],
+ [5, 0, 152],[5, 206, 217],[5, 220, 300],
+ [6, 0, 146],[6, 217, 300],
+ [7, 0, 143],[7, 235, 300],
+ [8, 0, 139],[8, 228.5, 300],
+ [9, 0, 135],[9, 228.5, 300],
+ [10, 0, 133],[10, 235, 300],
+ [11, 0, 132],[11, 235, 300],
+ [12, 0, 131],[12, 235, 300],
+ [13, 0, 129],[13, 235, 300],
+ [14, 0, 127],[14, 235, 300],
+ [15, 0, 126],[15, 235, 300],
+ [16, 0, 124],[16, 235, 300],
+ [17, 0, 122],[17, 235, 300],
+ [18, 0, 121],[18, 235, 300],
+ [19, 0, 120],[19, 235, 300],
+ [20, 0, 119],[20, 235, 300],
+ [21, 0, 118],[21, 235, 300],
+ [22, 0, 117],[22, 235, 300],
+ [23, 0, 116],[23, 235, 300],
+ [24, 0, 115],[24, 235, 300],
+ [25, 0, 114],[25, 235, 300],
+ [26, 0, 113],[26, 235, 300],
+ [27, 0, 112],[27, 235, 300],
+ [28, 0, 111],[28, 242, 300],
+ [29, 0, 110],[29, 242, 300],
+ [30, 0, 110],[30, 242, 300],
+ [31, 0, 109],[31, 244, 265],
+ [32, 0, 109],[32, 244, 265],
+ [33, 0, 108],[33, 244, 265],
+ [34, 0, 108],[34, 244, 265],
+ [35, 0, 107],[35, 244, 265],
+ [36, 0, 107],[36, 244, 265],
+ [37, 0, 106],[37, 244, 265],
+ [38, 0, 106],[38, 244, 265],
+ [39, 0, 105],[39, 244, 265],
+ [40, 0, 105],[40, 244, 265],
+ [41, 0, 104],[41, 244, 265],
+ [42, 0, 104],[42, 244, 265],
+ [43, 0, 103],[43, 244, 265],
+ [44, 0, 102],
+ [45, 0, 101],
+ [46, 0, 96],
+ [47, 0, 95],
+ [48, 0, 95],
+ [49, 0, 94],
+ [50, 0, 93],
+ [51, 0, 93],
+ [1, 0, 360],
+ [2, 0, 360],
+ [4, 0, 360],
+ [5, 0, 360],
+ [7, 0, 360],
+ [8, 0, 360],
+ [10, 0, 360],
+ [11, 0, 360],
+ [13, 0, 360],
+ [14, 0, 360],
+ [16, 0, 360],
+ [17, 0, 360],
+ [19, 0, 360],
+ [20, 0, 360],
+ [22, 0, 360],
+ [23, 0, 360],
+ [25, 0, 360],
+ [26, 0, 360],
+ [28, 0, 360],
+ [29, 0, 360],
+ [31, 0, 360],
+ [32, 0, 360],
+ [34, 0, 360],
+ [35, 0, 360],
+ [37, 0, 360],
+ [38, 0, 360],
+ [40, 0, 360],
+ [41, 0, 360],
+ [43, 0, 360],
+ [44, 0, 360],
+ [46, 0, 360],
+ [47, 0, 360],
+ [49, 0, 360],
+ [50, 0, 360],
+ [52, 0, 360],
+ [53, 0, 360],
+ [55, 0, 360],
+ [56, 0, 360],
+ [58, 0, 360],
+ [59, 0, 360],
+ [61, 0, 360],
+ [62, 0, 360],
+ [64, 0, 360],
+ [65, 0, 360],
+ [67, 0, 360],
+ [68, 0, 360],
+ [70, 0, 360],
+ [71, 0, 360],
+ [73, 0, 360],
+ [74, 0, 360],
+ [76, 0, 360],
+ [77, 0, 360],
+ [79, 0, 360],
+ [80, 0, 360],
+ [82, 0, 360],
+ [83, 0, 360],
+ [85, 0, 360],
+ [86, 0, 360],
+ [88, 0, 360],
+ [89, 0, 360],
+ [91, 0, 360],
+ [92, 0, 360],
+ [94, 0, 360],
+ [95, 0, 360],
+ [97, 0, 360],
+ [98, 0, 360],
+ [100, 0, 360],
+ [101, 0, 360],
+ [103, 0, 360],
+ [104, 0, 360],
+ [106, 0, 360],
+ [107, 0, 360],
+ [109, 0, 360],
+ [110, 0, 360],
+ [112, 0, 360],
+ [113, 0, 360],
+ [115, 0, 360],
+ [116, 0, 360],
+ [118, 0, 360],
+ [119, 0, 360],
+ [121, 0, 360],
+ [122, 0, 360],
+ [124, 0, 360],
+ [125, 0, 360],
+ [127, 0, 360]
+ ]
+ }
diff --git a/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_two_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_two_third.param.yaml
new file mode 100644
index 00000000..f7445d31
--- /dev/null
+++ b/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_two_third.param.yaml
@@ -0,0 +1,102 @@
+/**:
+ ros__parameters:
+ point_filters: |
+ {
+ "ring_section_filter": [
+ [0, 0, 360],
+ [1, 0, 360],
+ [2, 0, 170],[2, 192, 300],
+ [3, 0, 160],[3, 199.5, 300],
+ [4, 0, 155],[4, 203, 300],
+ [5, 0, 152],[5, 206, 217],[5, 220, 300],
+ [6, 0, 146],[6, 217, 300],
+ [7, 0, 143],[7, 235, 300],
+ [8, 0, 139],[8, 228.5, 300],
+ [9, 0, 135],[9, 228.5, 300],
+ [10, 0, 133],[10, 235, 300],
+ [11, 0, 132],[11, 235, 300],
+ [12, 0, 131],[12, 235, 300],
+ [13, 0, 129],[13, 235, 300],
+ [14, 0, 127],[14, 235, 300],
+ [15, 0, 126],[15, 235, 300],
+ [16, 0, 124],[16, 235, 300],
+ [17, 0, 122],[17, 235, 300],
+ [18, 0, 121],[18, 235, 300],
+ [19, 0, 120],[19, 235, 300],
+ [20, 0, 119],[20, 235, 300],
+ [21, 0, 118],[21, 235, 300],
+ [22, 0, 117],[22, 235, 300],
+ [23, 0, 116],[23, 235, 300],
+ [24, 0, 115],[24, 235, 300],
+ [25, 0, 114],[25, 235, 300],
+ [26, 0, 113],[26, 235, 300],
+ [27, 0, 112],[27, 235, 300],
+ [28, 0, 111],[28, 242, 300],
+ [29, 0, 110],[29, 242, 300],
+ [30, 0, 110],[30, 242, 300],
+ [31, 0, 109],[31, 244, 265],
+ [32, 0, 109],[32, 244, 265],
+ [33, 0, 108],[33, 244, 265],
+ [34, 0, 108],[34, 244, 265],
+ [35, 0, 107],[35, 244, 265],
+ [36, 0, 107],[36, 244, 265],
+ [37, 0, 106],[37, 244, 265],
+ [38, 0, 106],[38, 244, 265],
+ [39, 0, 105],[39, 244, 265],
+ [40, 0, 105],[40, 244, 265],
+ [41, 0, 104],[41, 244, 265],
+ [42, 0, 104],[42, 244, 265],
+ [43, 0, 103],[43, 244, 265],
+ [44, 0, 102],
+ [45, 0, 101],
+ [46, 0, 96],
+ [47, 0, 95],
+ [48, 0, 95],
+ [49, 0, 94],
+ [50, 0, 93],
+ [51, 0, 93],
+ [0, 0, 360],
+ [3, 0, 360],
+ [6, 0, 360],
+ [9, 0, 360],
+ [12, 0, 360],
+ [15, 0, 360],
+ [18, 0, 360],
+ [21, 0, 360],
+ [24, 0, 360],
+ [27, 0, 360],
+ [30, 0, 360],
+ [33, 0, 360],
+ [36, 0, 360],
+ [39, 0, 360],
+ [42, 0, 360],
+ [45, 0, 360],
+ [48, 0, 360],
+ [51, 0, 360],
+ [54, 0, 360],
+ [57, 0, 360],
+ [60, 0, 360],
+ [63, 0, 360],
+ [66, 0, 360],
+ [69, 0, 360],
+ [72, 0, 360],
+ [75, 0, 360],
+ [78, 0, 360],
+ [81, 0, 360],
+ [84, 0, 360],
+ [87, 0, 360],
+ [90, 0, 360],
+ [93, 0, 360],
+ [96, 0, 360],
+ [99, 0, 360],
+ [102, 0, 360],
+ [105, 0, 360],
+ [108, 0, 360],
+ [111, 0, 360],
+ [114, 0, 360],
+ [117, 0, 360],
+ [120, 0, 360],
+ [123, 0, 360],
+ [126, 0, 360]
+ ]
+ }
diff --git a/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_full.param.yaml b/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_full.param.yaml
new file mode 100644
index 00000000..366958ed
--- /dev/null
+++ b/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_full.param.yaml
@@ -0,0 +1,72 @@
+/**:
+ ros__parameters:
+ point_filters: |
+ {
+ "ring_section_filter": [
+ [11, 322, 336],[11, 354, 360],
+ [15, 143.95, 147.1],[15, 318, 360],
+ [19, 330, 360],
+ [23, 330, 360],
+ [31, 348, 360],
+ [38, 350, 360],
+ [45, 339, 360],
+ [52, 339, 360],
+ [59, 99, 101.5],[59, 330, 360],
+ [60, 330, 341],
+ [61, 330, 341],
+ [62, 330, 341],
+ [63, 330, 341],
+ [64, 330, 341],
+ [65, 330, 341],
+ [66, 319, 360],
+ [67, 330, 342],
+ [68, 330, 342],
+ [69, 330, 342],
+ [70, 317, 360],
+ [71, 331, 341],
+ [72, 319, 322],[72, 331, 341],
+ [73, 316, 360],
+ [74, 318, 341],
+ [75, 318, 341],
+ [76, 318, 341],
+ [77, 318, 360],
+ [77, 318, 360],
+ [78, 318, 360],
+ [79, 315, 360],
+ [80, 318, 360],
+ [81, 318, 360],
+ [82, 318, 360],
+ [83, 318, 360],
+ [84, 319, 360],
+ [85, 319, 360],
+ [86, 319, 360],
+ [87, 320, 360],
+ [88, 315, 360],
+ [89, 322, 323],
+ [91, 287.55, 289.90],
+ [92, 287.55, 289.75],[92, 315, 360],
+ [96, 316, 360],
+ [100, 316, 360],
+ [104, 316, 360],
+ [108, 314, 360],
+ [109, 314.74, 60],
+ [110, 312.74, 360],
+ [111, 312.73, 360],
+ [112, 308.48, 360],
+ [113, 305.68, 360],
+ [114, 308.58, 360],
+ [115, 307, 360],
+ [116, 303, 360],
+ [117, 303, 360],
+ [118, 303.81, 360],
+ [119, 302.09, 360],
+ [120, 298.42, 360],
+ [121, 299.63, 360],
+ [122, 298.42, 360],
+ [123, 298.42, 360],
+ [124, 293, 360],
+ [125, 90, 91],[125, 293, 360],
+ [126, 90, 91],[126, 292.12, 360],
+ [127, 90, 91],[127, 289.71, 360]
+ ]
+ }
diff --git a/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_one_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_one_third.param.yaml
new file mode 100644
index 00000000..d97f176e
--- /dev/null
+++ b/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_one_third.param.yaml
@@ -0,0 +1,157 @@
+/**:
+ ros__parameters:
+ point_filters: |
+ {
+ "ring_section_filter": [
+ [11, 322, 336],[11, 354, 360],
+ [15, 143.95, 147.1],[15, 318, 360],
+ [19, 330, 360],
+ [23, 330, 360],
+ [31, 348, 360],
+ [38, 350, 360],
+ [45, 339, 360],
+ [52, 339, 360],
+ [59, 99, 101.5],[59, 330, 360],
+ [60, 330, 341],
+ [61, 330, 341],
+ [62, 330, 341],
+ [63, 330, 341],
+ [64, 330, 341],
+ [65, 330, 341],
+ [66, 319, 360],
+ [67, 330, 342],
+ [68, 330, 342],
+ [69, 330, 342],
+ [70, 317, 360],
+ [71, 331, 341],
+ [72, 319, 322],[72, 331, 341],
+ [73, 316, 360],
+ [74, 318, 341],
+ [75, 318, 341],
+ [76, 318, 341],
+ [77, 318, 360],
+ [77, 318, 360],
+ [78, 318, 360],
+ [79, 315, 360],
+ [80, 318, 360],
+ [81, 318, 360],
+ [82, 318, 360],
+ [83, 318, 360],
+ [84, 319, 360],
+ [85, 319, 360],
+ [86, 319, 360],
+ [87, 320, 360],
+ [88, 315, 360],
+ [89, 322, 323],
+ [91, 287.55, 289.90],
+ [92, 287.55, 289.75],[92, 315, 360],
+ [96, 316, 360],
+ [100, 316, 360],
+ [104, 316, 360],
+ [108, 314, 360],
+ [109, 314.74, 60],
+ [110, 312.74, 360],
+ [111, 312.73, 360],
+ [112, 308.48, 360],
+ [113, 305.68, 360],
+ [114, 308.58, 360],
+ [115, 307, 360],
+ [116, 303, 360],
+ [117, 303, 360],
+ [118, 303.81, 360],
+ [119, 302.09, 360],
+ [120, 298.42, 360],
+ [121, 299.63, 360],
+ [122, 298.42, 360],
+ [123, 298.42, 360],
+ [124, 293, 360],
+ [125, 90, 91],[125, 293, 360],
+ [126, 90, 91],[126, 292.12, 360],
+ [127, 90, 91],[127, 289.71, 360],
+ [1, 0, 360],
+ [2, 0, 360],
+ [4, 0, 360],
+ [5, 0, 360],
+ [7, 0, 360],
+ [8, 0, 360],
+ [10, 0, 360],
+ [11, 0, 360],
+ [13, 0, 360],
+ [14, 0, 360],
+ [16, 0, 360],
+ [17, 0, 360],
+ [19, 0, 360],
+ [20, 0, 360],
+ [22, 0, 360],
+ [23, 0, 360],
+ [25, 0, 360],
+ [26, 0, 360],
+ [28, 0, 360],
+ [29, 0, 360],
+ [31, 0, 360],
+ [32, 0, 360],
+ [34, 0, 360],
+ [35, 0, 360],
+ [37, 0, 360],
+ [38, 0, 360],
+ [40, 0, 360],
+ [41, 0, 360],
+ [43, 0, 360],
+ [44, 0, 360],
+ [46, 0, 360],
+ [47, 0, 360],
+ [49, 0, 360],
+ [50, 0, 360],
+ [52, 0, 360],
+ [53, 0, 360],
+ [55, 0, 360],
+ [56, 0, 360],
+ [58, 0, 360],
+ [59, 0, 360],
+ [61, 0, 360],
+ [62, 0, 360],
+ [64, 0, 360],
+ [65, 0, 360],
+ [67, 0, 360],
+ [68, 0, 360],
+ [70, 0, 360],
+ [71, 0, 360],
+ [73, 0, 360],
+ [74, 0, 360],
+ [76, 0, 360],
+ [77, 0, 360],
+ [79, 0, 360],
+ [80, 0, 360],
+ [82, 0, 360],
+ [83, 0, 360],
+ [85, 0, 360],
+ [86, 0, 360],
+ [88, 0, 360],
+ [89, 0, 360],
+ [91, 0, 360],
+ [92, 0, 360],
+ [94, 0, 360],
+ [95, 0, 360],
+ [97, 0, 360],
+ [98, 0, 360],
+ [100, 0, 360],
+ [101, 0, 360],
+ [103, 0, 360],
+ [104, 0, 360],
+ [106, 0, 360],
+ [107, 0, 360],
+ [109, 0, 360],
+ [110, 0, 360],
+ [112, 0, 360],
+ [113, 0, 360],
+ [115, 0, 360],
+ [116, 0, 360],
+ [118, 0, 360],
+ [119, 0, 360],
+ [121, 0, 360],
+ [122, 0, 360],
+ [124, 0, 360],
+ [125, 0, 360],
+ [127, 0, 360]
+ ]
+ }
diff --git a/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_two_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_two_third.param.yaml
new file mode 100644
index 00000000..18753f9a
--- /dev/null
+++ b/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_two_third.param.yaml
@@ -0,0 +1,115 @@
+/**:
+ ros__parameters:
+ point_filters: |
+ {
+ "ring_section_filter": [
+ [11, 322, 336],[11, 354, 360],
+ [15, 143.95, 147.1],[15, 318, 360],
+ [19, 330, 360],
+ [23, 330, 360],
+ [31, 348, 360],
+ [38, 350, 360],
+ [45, 339, 360],
+ [52, 339, 360],
+ [59, 99, 101.5],[59, 330, 360],
+ [60, 330, 341],
+ [61, 330, 341],
+ [62, 330, 341],
+ [63, 330, 341],
+ [64, 330, 341],
+ [65, 330, 341],
+ [66, 319, 360],
+ [67, 330, 342],
+ [68, 330, 342],
+ [69, 330, 342],
+ [70, 317, 360],
+ [71, 331, 341],
+ [72, 319, 322],[72, 331, 341],
+ [73, 316, 360],
+ [74, 318, 341],
+ [75, 318, 341],
+ [76, 318, 341],
+ [77, 318, 360],
+ [77, 318, 360],
+ [78, 318, 360],
+ [79, 315, 360],
+ [80, 318, 360],
+ [81, 318, 360],
+ [82, 318, 360],
+ [83, 318, 360],
+ [84, 319, 360],
+ [85, 319, 360],
+ [86, 319, 360],
+ [87, 320, 360],
+ [88, 315, 360],
+ [89, 322, 323],
+ [91, 287.55, 289.90],
+ [92, 287.55, 289.75],[92, 315, 360],
+ [96, 316, 360],
+ [100, 316, 360],
+ [104, 316, 360],
+ [108, 314, 360],
+ [109, 314.74, 60],
+ [110, 312.74, 360],
+ [111, 312.73, 360],
+ [112, 308.48, 360],
+ [113, 305.68, 360],
+ [114, 308.58, 360],
+ [115, 307, 360],
+ [116, 303, 360],
+ [117, 303, 360],
+ [118, 303.81, 360],
+ [119, 302.09, 360],
+ [120, 298.42, 360],
+ [121, 299.63, 360],
+ [122, 298.42, 360],
+ [123, 298.42, 360],
+ [124, 293, 360],
+ [125, 90, 91],[125, 293, 360],
+ [126, 90, 91],[126, 292.12, 360],
+ [127, 90, 91],[127, 289.71, 360],
+ [0, 0, 360],
+ [3, 0, 360],
+ [6, 0, 360],
+ [9, 0, 360],
+ [12, 0, 360],
+ [15, 0, 360],
+ [18, 0, 360],
+ [21, 0, 360],
+ [24, 0, 360],
+ [27, 0, 360],
+ [30, 0, 360],
+ [33, 0, 360],
+ [36, 0, 360],
+ [39, 0, 360],
+ [42, 0, 360],
+ [45, 0, 360],
+ [48, 0, 360],
+ [51, 0, 360],
+ [54, 0, 360],
+ [57, 0, 360],
+ [60, 0, 360],
+ [63, 0, 360],
+ [66, 0, 360],
+ [69, 0, 360],
+ [72, 0, 360],
+ [75, 0, 360],
+ [78, 0, 360],
+ [81, 0, 360],
+ [84, 0, 360],
+ [87, 0, 360],
+ [90, 0, 360],
+ [93, 0, 360],
+ [96, 0, 360],
+ [99, 0, 360],
+ [102, 0, 360],
+ [105, 0, 360],
+ [108, 0, 360],
+ [111, 0, 360],
+ [114, 0, 360],
+ [117, 0, 360],
+ [120, 0, 360],
+ [123, 0, 360],
+ [126, 0, 360]
+ ]
+ }
diff --git a/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_full.param.yaml b/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_full.param.yaml
new file mode 100644
index 00000000..770a6c07
--- /dev/null
+++ b/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_full.param.yaml
@@ -0,0 +1,55 @@
+/**:
+ ros__parameters:
+ point_filters: |
+ {
+ "ring_section_filter": [
+ [0, 60,148], [0, 212,300],
+ [1, 60,144], [1, 216,300],
+ [2, 60,142], [2, 218,300],
+ [3, 60,140], [3, 220,300],
+ [4, 60,138], [4, 222,300],
+ [5, 60,138], [5, 222,300],
+ [6, 60,134], [6, 226,300],
+ [7, 60,134], [7, 226,300],
+ [8, 60,132], [8, 228,300],
+ [9, 60,132], [9, 228,300],
+ [10, 60,130], [10, 230,300],
+ [11, 60,120], [11, 240,300],
+ [12, 60,118], [12, 242,300],
+ [13, 60,118], [13, 242,300],
+ [14, 60,118], [14, 242,300],
+ [15, 60,118], [15, 242,300],
+ [16, 60,118], [16, 242,300],
+ [17, 60,118], [17, 242,300],
+ [18, 60,116], [18, 244,300],
+ [19, 60,116], [19, 244,300],
+ [20, 60,112], [20, 248,300],
+ [21, 60,112], [21, 248,300],
+ [22, 60,110], [22, 250,300],
+ [23, 60,110], [23, 250,300],
+ [24, 60,110], [24, 250,300],
+ [25, 60,110], [25, 250,300],
+ [26, 60,110], [26, 250,300],
+ [27, 60,106], [27, 254,300],
+ [28, 60,106], [28, 254,300],
+ [29, 60,106], [29, 254,300],
+ [30, 60,104], [30, 256,300],
+ [31, 60,104], [31, 256,300],
+ [32, 60,104], [32, 256,300],
+ [33, 60,104], [33, 256,300],
+ [34, 60,104], [34, 256,300],
+ [35, 60,100], [35, 260,300],
+ [36, 60,100], [36, 260,300],
+ [37, 60,100], [37, 260,300],
+ [38, 60,100], [38, 260,300],
+ [39, 60,96], [39, 264,300],
+ [40, 60,96], [40, 264,300],
+ [41, 60,96], [41, 264,300],
+ [42, 60,96], [42, 264,300],
+ [43, 60,96], [43, 264,300],
+ [44, 60,94], [44, 266,300],
+ [45, 60,94], [45, 266,300],
+ [46, 60,94], [46, 266,300],
+ [47, 60,94], [47, 266,300]
+ ]
+ }
diff --git a/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_one_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_one_third.param.yaml
new file mode 100644
index 00000000..cc034395
--- /dev/null
+++ b/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_one_third.param.yaml
@@ -0,0 +1,140 @@
+/**:
+ ros__parameters:
+ point_filters: |
+ {
+ "ring_section_filter": [
+ [0, 60,148], [0, 212,300],
+ [1, 60,144], [1, 216,300],
+ [2, 60,142], [2, 218,300],
+ [3, 60,140], [3, 220,300],
+ [4, 60,138], [4, 222,300],
+ [5, 60,138], [5, 222,300],
+ [6, 60,134], [6, 226,300],
+ [7, 60,134], [7, 226,300],
+ [8, 60,132], [8, 228,300],
+ [9, 60,132], [9, 228,300],
+ [10, 60,130], [10, 230,300],
+ [11, 60,120], [11, 240,300],
+ [12, 60,118], [12, 242,300],
+ [13, 60,118], [13, 242,300],
+ [14, 60,118], [14, 242,300],
+ [15, 60,118], [15, 242,300],
+ [16, 60,118], [16, 242,300],
+ [17, 60,118], [17, 242,300],
+ [18, 60,116], [18, 244,300],
+ [19, 60,116], [19, 244,300],
+ [20, 60,112], [20, 248,300],
+ [21, 60,112], [21, 248,300],
+ [22, 60,110], [22, 250,300],
+ [23, 60,110], [23, 250,300],
+ [24, 60,110], [24, 250,300],
+ [25, 60,110], [25, 250,300],
+ [26, 60,110], [26, 250,300],
+ [27, 60,106], [27, 254,300],
+ [28, 60,106], [28, 254,300],
+ [29, 60,106], [29, 254,300],
+ [30, 60,104], [30, 256,300],
+ [31, 60,104], [31, 256,300],
+ [32, 60,104], [32, 256,300],
+ [33, 60,104], [33, 256,300],
+ [34, 60,104], [34, 256,300],
+ [35, 60,100], [35, 260,300],
+ [36, 60,100], [36, 260,300],
+ [37, 60,100], [37, 260,300],
+ [38, 60,100], [38, 260,300],
+ [39, 60,96], [39, 264,300],
+ [40, 60,96], [40, 264,300],
+ [41, 60,96], [41, 264,300],
+ [42, 60,96], [42, 264,300],
+ [43, 60,96], [43, 264,300],
+ [44, 60,94], [44, 266,300],
+ [45, 60,94], [45, 266,300],
+ [46, 60,94], [46, 266,300],
+ [47, 60,94], [47, 266,300],
+ [1, 0, 360],
+ [2, 0, 360],
+ [4, 0, 360],
+ [5, 0, 360],
+ [7, 0, 360],
+ [8, 0, 360],
+ [10, 0, 360],
+ [11, 0, 360],
+ [13, 0, 360],
+ [14, 0, 360],
+ [16, 0, 360],
+ [17, 0, 360],
+ [19, 0, 360],
+ [20, 0, 360],
+ [22, 0, 360],
+ [23, 0, 360],
+ [25, 0, 360],
+ [26, 0, 360],
+ [28, 0, 360],
+ [29, 0, 360],
+ [31, 0, 360],
+ [32, 0, 360],
+ [34, 0, 360],
+ [35, 0, 360],
+ [37, 0, 360],
+ [38, 0, 360],
+ [40, 0, 360],
+ [41, 0, 360],
+ [43, 0, 360],
+ [44, 0, 360],
+ [46, 0, 360],
+ [47, 0, 360],
+ [49, 0, 360],
+ [50, 0, 360],
+ [52, 0, 360],
+ [53, 0, 360],
+ [55, 0, 360],
+ [56, 0, 360],
+ [58, 0, 360],
+ [59, 0, 360],
+ [61, 0, 360],
+ [62, 0, 360],
+ [64, 0, 360],
+ [65, 0, 360],
+ [67, 0, 360],
+ [68, 0, 360],
+ [70, 0, 360],
+ [71, 0, 360],
+ [73, 0, 360],
+ [74, 0, 360],
+ [76, 0, 360],
+ [77, 0, 360],
+ [79, 0, 360],
+ [80, 0, 360],
+ [82, 0, 360],
+ [83, 0, 360],
+ [85, 0, 360],
+ [86, 0, 360],
+ [88, 0, 360],
+ [89, 0, 360],
+ [91, 0, 360],
+ [92, 0, 360],
+ [94, 0, 360],
+ [95, 0, 360],
+ [97, 0, 360],
+ [98, 0, 360],
+ [100, 0, 360],
+ [101, 0, 360],
+ [103, 0, 360],
+ [104, 0, 360],
+ [106, 0, 360],
+ [107, 0, 360],
+ [109, 0, 360],
+ [110, 0, 360],
+ [112, 0, 360],
+ [113, 0, 360],
+ [115, 0, 360],
+ [116, 0, 360],
+ [118, 0, 360],
+ [119, 0, 360],
+ [121, 0, 360],
+ [122, 0, 360],
+ [124, 0, 360],
+ [125, 0, 360],
+ [127, 0, 360]
+ ]
+ }
diff --git a/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_two_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_two_third.param.yaml
new file mode 100644
index 00000000..267e2258
--- /dev/null
+++ b/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_two_third.param.yaml
@@ -0,0 +1,98 @@
+/**:
+ ros__parameters:
+ point_filters: |
+ {
+ "ring_section_filter": [
+ [0, 60,148], [0, 212,300],
+ [1, 60,144], [1, 216,300],
+ [2, 60,142], [2, 218,300],
+ [3, 60,140], [3, 220,300],
+ [4, 60,138], [4, 222,300],
+ [5, 60,138], [5, 222,300],
+ [6, 60,134], [6, 226,300],
+ [7, 60,134], [7, 226,300],
+ [8, 60,132], [8, 228,300],
+ [9, 60,132], [9, 228,300],
+ [10, 60,130], [10, 230,300],
+ [11, 60,120], [11, 240,300],
+ [12, 60,118], [12, 242,300],
+ [13, 60,118], [13, 242,300],
+ [14, 60,118], [14, 242,300],
+ [15, 60,118], [15, 242,300],
+ [16, 60,118], [16, 242,300],
+ [17, 60,118], [17, 242,300],
+ [18, 60,116], [18, 244,300],
+ [19, 60,116], [19, 244,300],
+ [20, 60,112], [20, 248,300],
+ [21, 60,112], [21, 248,300],
+ [22, 60,110], [22, 250,300],
+ [23, 60,110], [23, 250,300],
+ [24, 60,110], [24, 250,300],
+ [25, 60,110], [25, 250,300],
+ [26, 60,110], [26, 250,300],
+ [27, 60,106], [27, 254,300],
+ [28, 60,106], [28, 254,300],
+ [29, 60,106], [29, 254,300],
+ [30, 60,104], [30, 256,300],
+ [31, 60,104], [31, 256,300],
+ [32, 60,104], [32, 256,300],
+ [33, 60,104], [33, 256,300],
+ [34, 60,104], [34, 256,300],
+ [35, 60,100], [35, 260,300],
+ [36, 60,100], [36, 260,300],
+ [37, 60,100], [37, 260,300],
+ [38, 60,100], [38, 260,300],
+ [39, 60,96], [39, 264,300],
+ [40, 60,96], [40, 264,300],
+ [41, 60,96], [41, 264,300],
+ [42, 60,96], [42, 264,300],
+ [43, 60,96], [43, 264,300],
+ [44, 60,94], [44, 266,300],
+ [45, 60,94], [45, 266,300],
+ [46, 60,94], [46, 266,300],
+ [47, 60,94], [47, 266,300],
+ [0, 0, 360],
+ [3, 0, 360],
+ [6, 0, 360],
+ [9, 0, 360],
+ [12, 0, 360],
+ [15, 0, 360],
+ [18, 0, 360],
+ [21, 0, 360],
+ [24, 0, 360],
+ [27, 0, 360],
+ [30, 0, 360],
+ [33, 0, 360],
+ [36, 0, 360],
+ [39, 0, 360],
+ [42, 0, 360],
+ [45, 0, 360],
+ [48, 0, 360],
+ [51, 0, 360],
+ [54, 0, 360],
+ [57, 0, 360],
+ [60, 0, 360],
+ [63, 0, 360],
+ [66, 0, 360],
+ [69, 0, 360],
+ [72, 0, 360],
+ [75, 0, 360],
+ [78, 0, 360],
+ [81, 0, 360],
+ [84, 0, 360],
+ [87, 0, 360],
+ [90, 0, 360],
+ [93, 0, 360],
+ [96, 0, 360],
+ [99, 0, 360],
+ [102, 0, 360],
+ [105, 0, 360],
+ [108, 0, 360],
+ [111, 0, 360],
+ [114, 0, 360],
+ [117, 0, 360],
+ [120, 0, 360],
+ [123, 0, 360],
+ [126, 0, 360]
+ ]
+ }
diff --git a/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_full.param.yaml b/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_full.param.yaml
new file mode 100644
index 00000000..adcd8182
--- /dev/null
+++ b/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_full.param.yaml
@@ -0,0 +1,113 @@
+/**:
+ ros__parameters:
+ point_filters: |
+ {
+ "ring_section_filter": [
+ [0, 60,95],[0, 270,300],
+ [1, 60,95],[1, 270,300],
+ [2, 60,95],[2, 270,300],
+ [3, 60,95],[3, 270,300],
+ [4, 60,98],[4, 270,300],
+ [5, 60,98],[5, 270,300],
+ [6, 60,98],
+ [7, 60,98],
+ [8, 60,92],
+ [9, 60,92],
+ [10, 270,300],
+ [11, 270,300],
+ [12, 270,300],
+ [14, 265,300],
+ [15, 265,300],
+ [16, 265,300],
+ [17, 263,300],
+ [18, 263,300],
+ [19, 263,300],
+ [20, 263,300],
+ [21, 263,300],
+ [22, 264,300],
+ [23, 264,300],
+ [24, 264,300],
+ [30, 60,99],[30,264,300],
+ [31, 60,99],[31,264,300],
+ [32, 60,99],[32,264,300],
+ [33, 60,90],
+ [34, 60,90],
+ [35, 60,90],
+ [36, 60,94],
+ [37, 60,94],
+ [38, 60,94],
+ [39, 60,94],
+ [40, 60,94],
+ [41, 60,90],
+ [42, 60,90],
+ [43, 60,90],
+ [44, 60,100],[44, 262,300],
+ [45, 60,100],[45, 262,300],
+ [46, 60,100],[46, 262,300],
+ [51, 60,100],
+ [52, 60,100],
+ [53, 60,100],
+ [58, 60,99],[58, 269,300],
+ [59, 60,99],[59, 269,300],
+ [60, 60,99],[60, 269,300],
+ [65, 259.5,300],
+ [66, 259.5,300],
+ [67, 259.5,300],
+ [72, 265,300],
+ [73, 265,300],
+ [74, 265,300],
+ [75, 265,300],
+ [76, 265,300],
+ [77, 265,300],
+ [78, 60,98],[78, 262,300],
+ [79, 60,98],[79, 262,300],
+ [80, 60,98],[80, 262,300],
+ [81, 60,98],[81, 262,300],
+ [82, 60,98],[82, 262,300],
+ [83, 60,98],[83, 262,300],
+ [84, 60,98],[84, 262,300],
+ [85, 60,98],[85, 262,300],
+ [86, 60,98],[86, 262,300],
+ [87, 60,100],[87, 262,300],
+ [88, 60,100],[88, 262,300],
+ [89, 60,100],[89, 262,300],
+ [90, 262,300],
+ [91, 60,101], [91, 270,300],
+ [92, 60,101], [92, 270,300],
+ [93, 60,101], [93, 270,300],
+ [94, 60,102], [94, 270,300],
+ [95, 60,102],[95, 267,300],
+ [96, 60,102],[96, 267,300],
+ [97, 60,102],[97, 267,300],
+ [98, 60,95],
+ [99, 60,95],
+ [100, 60,95],
+ [101, 60,95],
+ [102, 60,95],
+ [103, 60,99],
+ [104, 60,97],
+ [105, 60,97],
+ [106, 60,97],
+ [107, 60,98],
+ [108, 60,98],
+ [109, 60,98],
+ [110, 60,93],
+ [111, 60,93],[111, 270,300],
+ [112, 60,93],[112, 270,300],
+ [113, 60,93],[113, 270,300],
+ [114, 60,98],
+ [115, 60,98],
+ [116, 60,98],
+ [117, 60,98],
+ [118, 60,100],
+ [119, 60,101],[119, 269,300],
+ [120, 60,101],[120, 269,300],
+ [121, 60,101],[121, 264,300],
+ [122, 60,101],[122, 264,300],
+ [123, 60,103], [123, 264,300],
+ [124, 60,103], [124, 258,300],
+ [125, 60,103], [125, 258,300],
+ [126, 60,103], [126, 258,300],
+ [127, 60,103], [127, 258,300]
+ ]
+ }
diff --git a/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_one_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_one_third.param.yaml
new file mode 100644
index 00000000..550c33a9
--- /dev/null
+++ b/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_one_third.param.yaml
@@ -0,0 +1,198 @@
+/**:
+ ros__parameters:
+ point_filters: |
+ {
+ "ring_section_filter": [
+ [0, 60,95],[0, 270,300],
+ [1, 60,95],[1, 270,300],
+ [2, 60,95],[2, 270,300],
+ [3, 60,95],[3, 270,300],
+ [4, 60,98],[4, 270,300],
+ [5, 60,98],[5, 270,300],
+ [6, 60,98],
+ [7, 60,98],
+ [8, 60,92],
+ [9, 60,92],
+ [10, 270,300],
+ [11, 270,300],
+ [12, 270,300],
+ [14, 265,300],
+ [15, 265,300],
+ [16, 265,300],
+ [17, 263,300],
+ [18, 263,300],
+ [19, 263,300],
+ [20, 263,300],
+ [21, 263,300],
+ [22, 264,300],
+ [23, 264,300],
+ [24, 264,300],
+ [30, 60,99],[30,264,300],
+ [31, 60,99],[31,264,300],
+ [32, 60,99],[32,264,300],
+ [33, 60,90],
+ [34, 60,90],
+ [35, 60,90],
+ [36, 60,94],
+ [37, 60,94],
+ [38, 60,94],
+ [39, 60,94],
+ [40, 60,94],
+ [41, 60,90],
+ [42, 60,90],
+ [43, 60,90],
+ [44, 60,100],[44, 262,300],
+ [45, 60,100],[45, 262,300],
+ [46, 60,100],[46, 262,300],
+ [51, 60,100],
+ [52, 60,100],
+ [53, 60,100],
+ [58, 60,99],[58, 269,300],
+ [59, 60,99],[59, 269,300],
+ [60, 60,99],[60, 269,300],
+ [65, 259.5,300],
+ [66, 259.5,300],
+ [67, 259.5,300],
+ [72, 265,300],
+ [73, 265,300],
+ [74, 265,300],
+ [75, 265,300],
+ [76, 265,300],
+ [77, 265,300],
+ [78, 60,98],[78, 262,300],
+ [79, 60,98],[79, 262,300],
+ [80, 60,98],[80, 262,300],
+ [81, 60,98],[81, 262,300],
+ [82, 60,98],[82, 262,300],
+ [83, 60,98],[83, 262,300],
+ [84, 60,98],[84, 262,300],
+ [85, 60,98],[85, 262,300],
+ [86, 60,98],[86, 262,300],
+ [87, 60,100],[87, 262,300],
+ [88, 60,100],[88, 262,300],
+ [89, 60,100],[89, 262,300],
+ [90, 262,300],
+ [91, 60,101], [91, 270,300],
+ [92, 60,101], [92, 270,300],
+ [93, 60,101], [93, 270,300],
+ [94, 60,102], [94, 270,300],
+ [95, 60,102],[95, 267,300],
+ [96, 60,102],[96, 267,300],
+ [97, 60,102],[97, 267,300],
+ [98, 60,95],
+ [99, 60,95],
+ [100, 60,95],
+ [101, 60,95],
+ [102, 60,95],
+ [103, 60,99],
+ [104, 60,97],
+ [105, 60,97],
+ [106, 60,97],
+ [107, 60,98],
+ [108, 60,98],
+ [109, 60,98],
+ [110, 60,93],
+ [111, 60,93],[111, 270,300],
+ [112, 60,93],[112, 270,300],
+ [113, 60,93],[113, 270,300],
+ [114, 60,98],
+ [115, 60,98],
+ [116, 60,98],
+ [117, 60,98],
+ [118, 60,100],
+ [119, 60,101],[119, 269,300],
+ [120, 60,101],[120, 269,300],
+ [121, 60,101],[121, 264,300],
+ [122, 60,101],[122, 264,300],
+ [123, 60,103], [123, 264,300],
+ [124, 60,103], [124, 258,300],
+ [125, 60,103], [125, 258,300],
+ [126, 60,103], [126, 258,300],
+ [127, 60,103], [127, 258,300],
+ [1, 0, 360],
+ [2, 0, 360],
+ [4, 0, 360],
+ [5, 0, 360],
+ [7, 0, 360],
+ [8, 0, 360],
+ [10, 0, 360],
+ [11, 0, 360],
+ [13, 0, 360],
+ [14, 0, 360],
+ [16, 0, 360],
+ [17, 0, 360],
+ [19, 0, 360],
+ [20, 0, 360],
+ [22, 0, 360],
+ [23, 0, 360],
+ [25, 0, 360],
+ [26, 0, 360],
+ [28, 0, 360],
+ [29, 0, 360],
+ [31, 0, 360],
+ [32, 0, 360],
+ [34, 0, 360],
+ [35, 0, 360],
+ [37, 0, 360],
+ [38, 0, 360],
+ [40, 0, 360],
+ [41, 0, 360],
+ [43, 0, 360],
+ [44, 0, 360],
+ [46, 0, 360],
+ [47, 0, 360],
+ [49, 0, 360],
+ [50, 0, 360],
+ [52, 0, 360],
+ [53, 0, 360],
+ [55, 0, 360],
+ [56, 0, 360],
+ [58, 0, 360],
+ [59, 0, 360],
+ [61, 0, 360],
+ [62, 0, 360],
+ [64, 0, 360],
+ [65, 0, 360],
+ [67, 0, 360],
+ [68, 0, 360],
+ [70, 0, 360],
+ [71, 0, 360],
+ [73, 0, 360],
+ [74, 0, 360],
+ [76, 0, 360],
+ [77, 0, 360],
+ [79, 0, 360],
+ [80, 0, 360],
+ [82, 0, 360],
+ [83, 0, 360],
+ [85, 0, 360],
+ [86, 0, 360],
+ [88, 0, 360],
+ [89, 0, 360],
+ [91, 0, 360],
+ [92, 0, 360],
+ [94, 0, 360],
+ [95, 0, 360],
+ [97, 0, 360],
+ [98, 0, 360],
+ [100, 0, 360],
+ [101, 0, 360],
+ [103, 0, 360],
+ [104, 0, 360],
+ [106, 0, 360],
+ [107, 0, 360],
+ [109, 0, 360],
+ [110, 0, 360],
+ [112, 0, 360],
+ [113, 0, 360],
+ [115, 0, 360],
+ [116, 0, 360],
+ [118, 0, 360],
+ [119, 0, 360],
+ [121, 0, 360],
+ [122, 0, 360],
+ [124, 0, 360],
+ [125, 0, 360],
+ [127, 0, 360]
+ ]
+ }
diff --git a/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_two_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_two_third.param.yaml
new file mode 100644
index 00000000..e3f7d468
--- /dev/null
+++ b/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_two_third.param.yaml
@@ -0,0 +1,156 @@
+/**:
+ ros__parameters:
+ point_filters: |
+ {
+ "ring_section_filter": [
+ [0, 60,95],[0, 270,300],
+ [1, 60,95],[1, 270,300],
+ [2, 60,95],[2, 270,300],
+ [3, 60,95],[3, 270,300],
+ [4, 60,98],[4, 270,300],
+ [5, 60,98],[5, 270,300],
+ [6, 60,98],
+ [7, 60,98],
+ [8, 60,92],
+ [9, 60,92],
+ [10, 270,300],
+ [11, 270,300],
+ [12, 270,300],
+ [14, 265,300],
+ [15, 265,300],
+ [16, 265,300],
+ [17, 263,300],
+ [18, 263,300],
+ [19, 263,300],
+ [20, 263,300],
+ [21, 263,300],
+ [22, 264,300],
+ [23, 264,300],
+ [24, 264,300],
+ [30, 60,99],[30,264,300],
+ [31, 60,99],[31,264,300],
+ [32, 60,99],[32,264,300],
+ [33, 60,90],
+ [34, 60,90],
+ [35, 60,90],
+ [36, 60,94],
+ [37, 60,94],
+ [38, 60,94],
+ [39, 60,94],
+ [40, 60,94],
+ [41, 60,90],
+ [42, 60,90],
+ [43, 60,90],
+ [44, 60,100],[44, 262,300],
+ [45, 60,100],[45, 262,300],
+ [46, 60,100],[46, 262,300],
+ [51, 60,100],
+ [52, 60,100],
+ [53, 60,100],
+ [58, 60,99],[58, 269,300],
+ [59, 60,99],[59, 269,300],
+ [60, 60,99],[60, 269,300],
+ [65, 259.5,300],
+ [66, 259.5,300],
+ [67, 259.5,300],
+ [72, 265,300],
+ [73, 265,300],
+ [74, 265,300],
+ [75, 265,300],
+ [76, 265,300],
+ [77, 265,300],
+ [78, 60,98],[78, 262,300],
+ [79, 60,98],[79, 262,300],
+ [80, 60,98],[80, 262,300],
+ [81, 60,98],[81, 262,300],
+ [82, 60,98],[82, 262,300],
+ [83, 60,98],[83, 262,300],
+ [84, 60,98],[84, 262,300],
+ [85, 60,98],[85, 262,300],
+ [86, 60,98],[86, 262,300],
+ [87, 60,100],[87, 262,300],
+ [88, 60,100],[88, 262,300],
+ [89, 60,100],[89, 262,300],
+ [90, 262,300],
+ [91, 60,101], [91, 270,300],
+ [92, 60,101], [92, 270,300],
+ [93, 60,101], [93, 270,300],
+ [94, 60,102], [94, 270,300],
+ [95, 60,102],[95, 267,300],
+ [96, 60,102],[96, 267,300],
+ [97, 60,102],[97, 267,300],
+ [98, 60,95],
+ [99, 60,95],
+ [100, 60,95],
+ [101, 60,95],
+ [102, 60,95],
+ [103, 60,99],
+ [104, 60,97],
+ [105, 60,97],
+ [106, 60,97],
+ [107, 60,98],
+ [108, 60,98],
+ [109, 60,98],
+ [110, 60,93],
+ [111, 60,93],[111, 270,300],
+ [112, 60,93],[112, 270,300],
+ [113, 60,93],[113, 270,300],
+ [114, 60,98],
+ [115, 60,98],
+ [116, 60,98],
+ [117, 60,98],
+ [118, 60,100],
+ [119, 60,101],[119, 269,300],
+ [120, 60,101],[120, 269,300],
+ [121, 60,101],[121, 264,300],
+ [122, 60,101],[122, 264,300],
+ [123, 60,103], [123, 264,300],
+ [124, 60,103], [124, 258,300],
+ [125, 60,103], [125, 258,300],
+ [126, 60,103], [126, 258,300],
+ [127, 60,103], [127, 258,300],
+ [0, 0, 360],
+ [3, 0, 360],
+ [6, 0, 360],
+ [9, 0, 360],
+ [12, 0, 360],
+ [15, 0, 360],
+ [18, 0, 360],
+ [21, 0, 360],
+ [24, 0, 360],
+ [27, 0, 360],
+ [30, 0, 360],
+ [33, 0, 360],
+ [36, 0, 360],
+ [39, 0, 360],
+ [42, 0, 360],
+ [45, 0, 360],
+ [48, 0, 360],
+ [51, 0, 360],
+ [54, 0, 360],
+ [57, 0, 360],
+ [60, 0, 360],
+ [63, 0, 360],
+ [66, 0, 360],
+ [69, 0, 360],
+ [72, 0, 360],
+ [75, 0, 360],
+ [78, 0, 360],
+ [81, 0, 360],
+ [84, 0, 360],
+ [87, 0, 360],
+ [90, 0, 360],
+ [93, 0, 360],
+ [96, 0, 360],
+ [99, 0, 360],
+ [102, 0, 360],
+ [105, 0, 360],
+ [108, 0, 360],
+ [111, 0, 360],
+ [114, 0, 360],
+ [117, 0, 360],
+ [120, 0, 360],
+ [123, 0, 360],
+ [126, 0, 360]
+ ]
+ }
diff --git a/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_full.param.yaml b/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_full.param.yaml
new file mode 100644
index 00000000..95e10b77
--- /dev/null
+++ b/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_full.param.yaml
@@ -0,0 +1,60 @@
+/**:
+ ros__parameters:
+ point_filters: |
+ {
+ "ring_section_filter": [
+ [0, 0, 360],
+ [1, 0, 360],
+ [2, 0, 360],
+ [3, 60, 165],[3, 190, 300],
+ [4, 60, 158],[4, 203, 300],
+ [5, 60, 157],[5, 205, 300],
+ [6, 60, 156],[6, 211, 300],
+ [7, 60, 154],[7, 214, 300],
+ [8, 60, 152],[8, 217, 300],
+ [9, 60, 152],[9, 220, 300],
+ [10, 60, 151],[10, 221, 300],
+ [11, 60, 151],[11, 226, 300],
+ [12, 60, 151],[12, 229, 300],
+ [13, 60, 151],[13, 231, 300],
+ [14, 60, 150],[14, 232, 300],
+ [15, 60, 150],[15, 233, 300],
+ [16, 60, 150],[16, 234, 300],
+ [17, 60, 140],[17, 235, 300],
+ [18, 60, 135],[18, 235, 300],
+ [19, 60, 126],[19, 236, 300],
+ [20, 102, 126],[20, 240, 300],
+ [21, 102, 125],[21, 241, 300],
+ [22, 105, 125],[22, 241, 300],
+ [23, 105, 124],[23, 244, 300],
+ [24, 105, 123],[24, 245, 300],
+ [25, 106, 122],[25, 246, 300],
+ [26, 107, 121],[26, 247, 300],
+ [27, 108, 120],[27, 248, 300],
+ [28, 109, 119],[28, 248, 300],
+ [29, 110, 118],[29, 250, 300],
+ [30, 111, 117],[30, 250, 300],
+ [31, 112.5, 116],[31, 251, 300],
+ [32, 251, 300],
+ [33, 252, 300],
+ [34, 252, 300],
+ [35, 253, 300],
+ [36, 253, 300],
+ [37, 254, 300],
+ [38, 254, 300],
+ [39, 255, 300],
+ [40, 255, 300],
+ [41, 256, 300],
+ [42, 256, 300],
+ [43, 257, 300],
+ [44, 258, 300],
+ [45, 259, 300],
+ [46, 264, 300],
+ [47, 265, 300],
+ [48, 265, 300],
+ [49, 266, 300],
+ [50, 267, 300],
+ [51, 267, 300],
+ [52, 268, 300]
+ ]
+ }
diff --git a/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_one_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_one_third.param.yaml
new file mode 100644
index 00000000..351c5363
--- /dev/null
+++ b/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_one_third.param.yaml
@@ -0,0 +1,145 @@
+/**:
+ ros__parameters:
+ point_filters: |
+ {
+ "ring_section_filter": [
+ [0, 0, 360],
+ [1, 0, 360],
+ [2, 0, 360],
+ [3, 60, 165],[3, 190, 300],
+ [4, 60, 158],[4, 203, 300],
+ [5, 60, 157],[5, 205, 300],
+ [6, 60, 156],[6, 211, 300],
+ [7, 60, 154],[7, 214, 300],
+ [8, 60, 152],[8, 217, 300],
+ [9, 60, 152],[9, 220, 300],
+ [10, 60, 151],[10, 221, 300],
+ [11, 60, 151],[11, 226, 300],
+ [12, 60, 151],[12, 229, 300],
+ [13, 60, 151],[13, 231, 300],
+ [14, 60, 150],[14, 232, 300],
+ [15, 60, 150],[15, 233, 300],
+ [16, 60, 150],[16, 234, 300],
+ [17, 60, 140],[17, 235, 300],
+ [18, 60, 135],[18, 235, 300],
+ [19, 60, 126],[19, 236, 300],
+ [20, 103, 126],[20, 240, 300],
+ [21, 105, 125],[21, 241, 300],
+ [22, 105, 125],[22, 241, 300],
+ [23, 105, 124],[23, 244, 300],
+ [24, 105, 123],[24, 245, 300],
+ [25, 106, 122],[25, 246, 300],
+ [26, 107, 121],[26, 247, 300],
+ [27, 108, 120],[27, 248, 300],
+ [28, 109, 119],[28, 248, 300],
+ [29, 110, 118],[29, 250, 300],
+ [30, 111, 117],[30, 250, 300],
+ [31, 112.5, 116],[31, 251, 300],
+ [32, 251, 300],
+ [33, 252, 300],
+ [34, 252, 300],
+ [35, 253, 300],
+ [36, 253, 300],
+ [37, 254, 300],
+ [38, 254, 300],
+ [39, 255, 300],
+ [40, 255, 300],
+ [41, 256, 300],
+ [42, 256, 300],
+ [43, 257, 300],
+ [44, 258, 300],
+ [45, 259, 300],
+ [46, 264, 300],
+ [47, 265, 300],
+ [48, 265, 300],
+ [49, 266, 300],
+ [50, 267, 300],
+ [51, 267, 300],
+ [52, 268, 300],
+ [1, 0, 360],
+ [2, 0, 360],
+ [4, 0, 360],
+ [5, 0, 360],
+ [7, 0, 360],
+ [8, 0, 360],
+ [10, 0, 360],
+ [11, 0, 360],
+ [13, 0, 360],
+ [14, 0, 360],
+ [16, 0, 360],
+ [17, 0, 360],
+ [19, 0, 360],
+ [20, 0, 360],
+ [22, 0, 360],
+ [23, 0, 360],
+ [25, 0, 360],
+ [26, 0, 360],
+ [28, 0, 360],
+ [29, 0, 360],
+ [31, 0, 360],
+ [32, 0, 360],
+ [34, 0, 360],
+ [35, 0, 360],
+ [37, 0, 360],
+ [38, 0, 360],
+ [40, 0, 360],
+ [41, 0, 360],
+ [43, 0, 360],
+ [44, 0, 360],
+ [46, 0, 360],
+ [47, 0, 360],
+ [49, 0, 360],
+ [50, 0, 360],
+ [52, 0, 360],
+ [53, 0, 360],
+ [55, 0, 360],
+ [56, 0, 360],
+ [58, 0, 360],
+ [59, 0, 360],
+ [61, 0, 360],
+ [62, 0, 360],
+ [64, 0, 360],
+ [65, 0, 360],
+ [67, 0, 360],
+ [68, 0, 360],
+ [70, 0, 360],
+ [71, 0, 360],
+ [73, 0, 360],
+ [74, 0, 360],
+ [76, 0, 360],
+ [77, 0, 360],
+ [79, 0, 360],
+ [80, 0, 360],
+ [82, 0, 360],
+ [83, 0, 360],
+ [85, 0, 360],
+ [86, 0, 360],
+ [88, 0, 360],
+ [89, 0, 360],
+ [91, 0, 360],
+ [92, 0, 360],
+ [94, 0, 360],
+ [95, 0, 360],
+ [97, 0, 360],
+ [98, 0, 360],
+ [100, 0, 360],
+ [101, 0, 360],
+ [103, 0, 360],
+ [104, 0, 360],
+ [106, 0, 360],
+ [107, 0, 360],
+ [109, 0, 360],
+ [110, 0, 360],
+ [112, 0, 360],
+ [113, 0, 360],
+ [115, 0, 360],
+ [116, 0, 360],
+ [118, 0, 360],
+ [119, 0, 360],
+ [121, 0, 360],
+ [122, 0, 360],
+ [124, 0, 360],
+ [125, 0, 360],
+ [127, 0, 360]
+ ]
+ }
diff --git a/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_two_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_two_third.param.yaml
new file mode 100644
index 00000000..6e82a756
--- /dev/null
+++ b/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_two_third.param.yaml
@@ -0,0 +1,103 @@
+/**:
+ ros__parameters:
+ point_filters: |
+ {
+ "ring_section_filter": [
+ [0, 0, 360],
+ [1, 0, 360],
+ [2, 0, 360],
+ [3, 60, 165],[3, 190, 300],
+ [4, 60, 158],[4, 203, 300],
+ [5, 60, 157],[5, 205, 300],
+ [6, 60, 156],[6, 211, 300],
+ [7, 60, 154],[7, 214, 300],
+ [8, 60, 152],[8, 217, 300],
+ [9, 60, 152],[9, 220, 300],
+ [10, 60, 151],[10, 221, 300],
+ [11, 60, 151],[11, 226, 300],
+ [12, 60, 151],[12, 229, 300],
+ [13, 60, 151],[13, 231, 300],
+ [14, 60, 150],[14, 232, 300],
+ [15, 60, 150],[15, 233, 300],
+ [16, 60, 150],[16, 234, 300],
+ [17, 60, 140],[17, 235, 300],
+ [18, 60, 135],[18, 235, 300],
+ [19, 60, 126],[19, 236, 300],
+ [20, 103, 126],[20, 240, 300],
+ [21, 105, 125],[21, 241, 300],
+ [22, 105, 125],[22, 241, 300],
+ [23, 105, 124],[23, 244, 300],
+ [24, 105, 123],[24, 245, 300],
+ [25, 106, 122],[25, 246, 300],
+ [26, 107, 121],[26, 247, 300],
+ [27, 108, 120],[27, 248, 300],
+ [28, 109, 119],[28, 248, 300],
+ [29, 110, 118],[29, 250, 300],
+ [30, 111, 117],[30, 250, 300],
+ [31, 112.5, 116],[31, 251, 300],
+ [32, 251, 300],
+ [33, 252, 300],
+ [34, 252, 300],
+ [35, 253, 300],
+ [36, 253, 300],
+ [37, 254, 300],
+ [38, 254, 300],
+ [39, 255, 300],
+ [40, 255, 300],
+ [41, 256, 300],
+ [42, 256, 300],
+ [43, 257, 300],
+ [44, 258, 300],
+ [45, 259, 300],
+ [46, 264, 300],
+ [47, 265, 300],
+ [48, 265, 300],
+ [49, 266, 300],
+ [50, 267, 300],
+ [51, 267, 300],
+ [52, 268, 300],
+ [0, 0, 360],
+ [3, 0, 360],
+ [6, 0, 360],
+ [9, 0, 360],
+ [12, 0, 360],
+ [15, 0, 360],
+ [18, 0, 360],
+ [21, 0, 360],
+ [24, 0, 360],
+ [27, 0, 360],
+ [30, 0, 360],
+ [33, 0, 360],
+ [36, 0, 360],
+ [39, 0, 360],
+ [42, 0, 360],
+ [45, 0, 360],
+ [48, 0, 360],
+ [51, 0, 360],
+ [54, 0, 360],
+ [57, 0, 360],
+ [60, 0, 360],
+ [63, 0, 360],
+ [66, 0, 360],
+ [69, 0, 360],
+ [72, 0, 360],
+ [75, 0, 360],
+ [78, 0, 360],
+ [81, 0, 360],
+ [84, 0, 360],
+ [87, 0, 360],
+ [90, 0, 360],
+ [93, 0, 360],
+ [96, 0, 360],
+ [99, 0, 360],
+ [102, 0, 360],
+ [105, 0, 360],
+ [108, 0, 360],
+ [111, 0, 360],
+ [114, 0, 360],
+ [117, 0, 360],
+ [120, 0, 360],
+ [123, 0, 360],
+ [126, 0, 360]
+ ]
+ }
diff --git a/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_full.param.yaml b/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_full.param.yaml
new file mode 100644
index 00000000..a0fc854a
--- /dev/null
+++ b/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_full.param.yaml
@@ -0,0 +1,116 @@
+/**:
+ ros__parameters:
+ point_filters: |
+ {
+ "ring_section_filter": [
+ [0, 0, 15],
+ [1, 0, 15],
+ [2, 0, 15],
+ [3, 0, 15],
+ [23, 0, 10],
+ [24, 0, 10],
+ [25, 0, 10],
+ [26, 0, 10],
+ [27, 0, 10],
+ [28, 0, 10],
+ [29, 0, 10],
+ [30, 0, 15],
+ [31, 0, 15],
+ [32, 0, 15],
+ [33, 0, 10],
+ [34, 0, 10],
+ [35, 0, 10],
+ [36, 0, 10],
+ [37, 0, 10],
+ [38, 0, 10],
+ [39, 0, 10],
+ [40, 0, 10],
+ [41, 0, 10],
+ [42, 0, 10],
+ [43, 0, 10],
+ [44, 0, 10],
+ [45, 0, 25],
+ [46, 0, 25],
+ [47, 0, 25],
+ [48, 0, 26],
+ [49, 0, 26],
+ [50, 0, 27],
+ [51, 0, 40],
+ [52, 0, 40],
+ [53, 0, 40],
+ [54, 0, 40],
+ [55, 0, 40],
+ [56, 0, 40],
+ [57, 0, 45],
+ [58, 0, 45],
+ [59, 0, 45],
+ [60, 0, 45],
+ [61, 0, 40],
+ [62, 0, 35],
+ [63, 0, 35],
+ [64, 0, 35],
+ [65, 0, 35],
+ [66, 0, 40],
+ [67, 0, 40],
+ [68, 0, 42],
+ [69, 0, 42],
+ [70, 0, 42],
+ [71, 0, 44],
+ [72, 0, 44],
+ [73, 0, 44],
+ [74, 0, 44],
+ [75, 0, 44],
+ [76, 0, 45],
+ [77, 0, 45],
+ [78, 0, 45],
+ [79, 0, 45],
+ [80, 0, 45],
+ [81, 0, 45],
+ [82, 0, 45],
+ [83, 0, 45],
+ [84, 0, 45],
+ [85, 0, 45],
+ [86, 0, 45],
+ [87, 0, 45],
+ [88, 0, 45],
+ [89, 0, 45],
+ [90, 0, 45],
+ [91, 0, 45],
+ [92, 0, 45],
+ [93, 0, 44],
+ [94, 0, 44],
+ [95, 0, 44],
+ [96, 0, 44],
+ [97, 0, 44],
+ [98, 0, 44],
+ [99, 0, 44],
+ [100, 0, 46],
+ [101, 0, 46],
+ [102, 0, 46],
+ [103, 0, 44],
+ [104, 0, 44],[104, 269, 360],
+ [105, 0, 44],[105, 269, 360],
+ [106, 0, 44],[106, 269, 360],
+ [107, 0, 44],[107, 269, 360],
+ [108, 0, 46],[108, 269, 360],
+ [109, 0, 47],[109, 269, 360],
+ [110, 0, 48],[110, 87.78, 89.97],[110, 269, 360],
+ [111, 0, 49],[111, 269, 360],
+ [112, 0, 50],[112, 269, 360],
+ [113, 0, 52],[113, 269, 360],
+ [114, 0, 53],[114, 269, 360],
+ [115, 0, 54],[115, 269, 360],
+ [116, 0, 55],[116, 269, 360],
+ [117, 0, 56],[117, 269, 360],
+ [118, 0, 57],[118, 269, 360],
+ [119, 0, 58],[119, 269, 360],
+ [120, 0, 59],[120, 269, 360],
+ [121, 0, 61],[121, 269, 360],
+ [122, 0, 63],[122, 268, 360],
+ [123, 0, 66],[123, 268, 360],
+ [124, 0, 69],[124, 268, 360],
+ [125, 0, 69],[125, 267, 360],
+ [126, 0, 71],[126, 267, 360],
+ [127, 0, 72],[127, 267, 360]
+ ]
+ }
diff --git a/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_one_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_one_third.param.yaml
new file mode 100644
index 00000000..35f6a53f
--- /dev/null
+++ b/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_one_third.param.yaml
@@ -0,0 +1,201 @@
+/**:
+ ros__parameters:
+ point_filters: |
+ {
+ "ring_section_filter": [
+ [0, 0, 15],
+ [1, 0, 15],
+ [2, 0, 15],
+ [3, 0, 15],
+ [23, 0, 10],
+ [24, 0, 10],
+ [25, 0, 10],
+ [26, 0, 10],
+ [27, 0, 10],
+ [28, 0, 10],
+ [29, 0, 10],
+ [30, 0, 15],
+ [31, 0, 15],
+ [32, 0, 15],
+ [33, 0, 10],
+ [34, 0, 10],
+ [35, 0, 10],
+ [36, 0, 10],
+ [37, 0, 10],
+ [38, 0, 10],
+ [39, 0, 10],
+ [40, 0, 10],
+ [41, 0, 10],
+ [42, 0, 10],
+ [43, 0, 10],
+ [44, 0, 10],
+ [45, 0, 25],
+ [46, 0, 25],
+ [47, 0, 25],
+ [48, 0, 26],
+ [49, 0, 26],
+ [50, 0, 27],
+ [51, 0, 40],
+ [52, 0, 40],
+ [53, 0, 40],
+ [54, 0, 40],
+ [55, 0, 40],
+ [56, 0, 40],
+ [57, 0, 45],
+ [58, 0, 45],
+ [59, 0, 45],
+ [60, 0, 45],
+ [61, 0, 40],
+ [62, 0, 35],
+ [63, 0, 35],
+ [64, 0, 35],
+ [65, 0, 35],
+ [66, 0, 40],
+ [67, 0, 40],
+ [68, 0, 42],
+ [69, 0, 42],
+ [70, 0, 42],
+ [71, 0, 44],
+ [72, 0, 44],
+ [73, 0, 44],
+ [74, 0, 44],
+ [75, 0, 44],
+ [76, 0, 45],
+ [77, 0, 45],
+ [78, 0, 45],
+ [79, 0, 45],
+ [80, 0, 45],
+ [81, 0, 45],
+ [82, 0, 45],
+ [83, 0, 45],
+ [84, 0, 45],
+ [85, 0, 45],
+ [86, 0, 45],
+ [87, 0, 45],
+ [88, 0, 45],
+ [89, 0, 45],
+ [90, 0, 45],
+ [91, 0, 45],
+ [92, 0, 45],
+ [93, 0, 44],
+ [94, 0, 44],
+ [95, 0, 44],
+ [96, 0, 44],
+ [97, 0, 44],
+ [98, 0, 44],
+ [99, 0, 44],
+ [100, 0, 46],
+ [101, 0, 46],
+ [102, 0, 46],
+ [103, 0, 44],
+ [104, 0, 44],[104, 269, 360],
+ [105, 0, 44],[105, 269, 360],
+ [106, 0, 44],[106, 269, 360],
+ [107, 0, 44],[107, 269, 360],
+ [108, 0, 46],[108, 269, 360],
+ [109, 0, 47],[109, 269, 360],
+ [110, 0, 48],[110, 87.78, 89.97],[110, 269, 360],
+ [111, 0, 49],[111, 269, 360],
+ [112, 0, 50],[112, 269, 360],
+ [113, 0, 52],[113, 269, 360],
+ [114, 0, 53],[114, 269, 360],
+ [115, 0, 54],[115, 269, 360],
+ [116, 0, 55],[116, 269, 360],
+ [117, 0, 56],[117, 269, 360],
+ [118, 0, 57],[118, 269, 360],
+ [119, 0, 58],[119, 269, 360],
+ [120, 0, 59],[120, 269, 360],
+ [121, 0, 61],[121, 269, 360],
+ [122, 0, 63],[122, 268, 360],
+ [123, 0, 66],[123, 268, 360],
+ [124, 0, 69],[124, 268, 360],
+ [125, 0, 69],[125, 267, 360],
+ [126, 0, 71],[126, 267, 360],
+ [127, 0, 72],[127, 267, 360],
+ [1, 0, 360],
+ [2, 0, 360],
+ [4, 0, 360],
+ [5, 0, 360],
+ [7, 0, 360],
+ [8, 0, 360],
+ [10, 0, 360],
+ [11, 0, 360],
+ [13, 0, 360],
+ [14, 0, 360],
+ [16, 0, 360],
+ [17, 0, 360],
+ [19, 0, 360],
+ [20, 0, 360],
+ [22, 0, 360],
+ [23, 0, 360],
+ [25, 0, 360],
+ [26, 0, 360],
+ [28, 0, 360],
+ [29, 0, 360],
+ [31, 0, 360],
+ [32, 0, 360],
+ [34, 0, 360],
+ [35, 0, 360],
+ [37, 0, 360],
+ [38, 0, 360],
+ [40, 0, 360],
+ [41, 0, 360],
+ [43, 0, 360],
+ [44, 0, 360],
+ [46, 0, 360],
+ [47, 0, 360],
+ [49, 0, 360],
+ [50, 0, 360],
+ [52, 0, 360],
+ [53, 0, 360],
+ [55, 0, 360],
+ [56, 0, 360],
+ [58, 0, 360],
+ [59, 0, 360],
+ [61, 0, 360],
+ [62, 0, 360],
+ [64, 0, 360],
+ [65, 0, 360],
+ [67, 0, 360],
+ [68, 0, 360],
+ [70, 0, 360],
+ [71, 0, 360],
+ [73, 0, 360],
+ [74, 0, 360],
+ [76, 0, 360],
+ [77, 0, 360],
+ [79, 0, 360],
+ [80, 0, 360],
+ [82, 0, 360],
+ [83, 0, 360],
+ [85, 0, 360],
+ [86, 0, 360],
+ [88, 0, 360],
+ [89, 0, 360],
+ [91, 0, 360],
+ [92, 0, 360],
+ [94, 0, 360],
+ [95, 0, 360],
+ [97, 0, 360],
+ [98, 0, 360],
+ [100, 0, 360],
+ [101, 0, 360],
+ [103, 0, 360],
+ [104, 0, 360],
+ [106, 0, 360],
+ [107, 0, 360],
+ [109, 0, 360],
+ [110, 0, 360],
+ [112, 0, 360],
+ [113, 0, 360],
+ [115, 0, 360],
+ [116, 0, 360],
+ [118, 0, 360],
+ [119, 0, 360],
+ [121, 0, 360],
+ [122, 0, 360],
+ [124, 0, 360],
+ [125, 0, 360],
+ [127, 0, 360]
+ ]
+ }
diff --git a/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_two_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_two_third.param.yaml
new file mode 100644
index 00000000..b1de13ab
--- /dev/null
+++ b/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_two_third.param.yaml
@@ -0,0 +1,159 @@
+/**:
+ ros__parameters:
+ point_filters: |
+ {
+ "ring_section_filter": [
+ [0, 0, 15],
+ [1, 0, 15],
+ [2, 0, 15],
+ [3, 0, 15],
+ [23, 0, 10],
+ [24, 0, 10],
+ [25, 0, 10],
+ [26, 0, 10],
+ [27, 0, 10],
+ [28, 0, 10],
+ [29, 0, 10],
+ [30, 0, 15],
+ [31, 0, 15],
+ [32, 0, 15],
+ [33, 0, 10],
+ [34, 0, 10],
+ [35, 0, 10],
+ [36, 0, 10],
+ [37, 0, 10],
+ [38, 0, 10],
+ [39, 0, 10],
+ [40, 0, 10],
+ [41, 0, 10],
+ [42, 0, 10],
+ [43, 0, 10],
+ [44, 0, 10],
+ [45, 0, 25],
+ [46, 0, 25],
+ [47, 0, 25],
+ [48, 0, 26],
+ [49, 0, 26],
+ [50, 0, 27],
+ [51, 0, 40],
+ [52, 0, 40],
+ [53, 0, 40],
+ [54, 0, 40],
+ [55, 0, 40],
+ [56, 0, 40],
+ [57, 0, 45],
+ [58, 0, 45],
+ [59, 0, 45],
+ [60, 0, 45],
+ [61, 0, 40],
+ [62, 0, 35],
+ [63, 0, 35],
+ [64, 0, 35],
+ [65, 0, 35],
+ [66, 0, 40],
+ [67, 0, 40],
+ [68, 0, 42],
+ [69, 0, 42],
+ [70, 0, 42],
+ [71, 0, 44],
+ [72, 0, 44],
+ [73, 0, 44],
+ [74, 0, 44],
+ [75, 0, 44],
+ [76, 0, 45],
+ [77, 0, 45],
+ [78, 0, 45],
+ [79, 0, 45],
+ [80, 0, 45],
+ [81, 0, 45],
+ [82, 0, 45],
+ [83, 0, 45],
+ [84, 0, 45],
+ [85, 0, 45],
+ [86, 0, 45],
+ [87, 0, 45],
+ [88, 0, 45],
+ [89, 0, 45],
+ [90, 0, 45],
+ [91, 0, 45],
+ [92, 0, 45],
+ [93, 0, 44],
+ [94, 0, 44],
+ [95, 0, 44],
+ [96, 0, 44],
+ [97, 0, 44],
+ [98, 0, 44],
+ [99, 0, 44],
+ [100, 0, 46],
+ [101, 0, 46],
+ [102, 0, 46],
+ [103, 0, 44],
+ [104, 0, 44],[104, 269, 360],
+ [105, 0, 44],[105, 269, 360],
+ [106, 0, 44],[106, 269, 360],
+ [107, 0, 44],[107, 269, 360],
+ [108, 0, 46],[108, 269, 360],
+ [109, 0, 47],[109, 269, 360],
+ [110, 0, 48],[110, 87.78, 89.97],[110, 269, 360],
+ [111, 0, 49],[111, 269, 360],
+ [112, 0, 50],[112, 269, 360],
+ [113, 0, 52],[113, 269, 360],
+ [114, 0, 53],[114, 269, 360],
+ [115, 0, 54],[115, 269, 360],
+ [116, 0, 55],[116, 269, 360],
+ [117, 0, 56],[117, 269, 360],
+ [118, 0, 57],[118, 269, 360],
+ [119, 0, 58],[119, 269, 360],
+ [120, 0, 59],[120, 269, 360],
+ [121, 0, 61],[121, 269, 360],
+ [122, 0, 63],[122, 268, 360],
+ [123, 0, 66],[123, 268, 360],
+ [124, 0, 69],[124, 268, 360],
+ [125, 0, 69],[125, 267, 360],
+ [126, 0, 71],[126, 267, 360],
+ [127, 0, 72],[127, 267, 360],
+ [0, 0, 360],
+ [3, 0, 360],
+ [6, 0, 360],
+ [9, 0, 360],
+ [12, 0, 360],
+ [15, 0, 360],
+ [18, 0, 360],
+ [21, 0, 360],
+ [24, 0, 360],
+ [27, 0, 360],
+ [30, 0, 360],
+ [33, 0, 360],
+ [36, 0, 360],
+ [39, 0, 360],
+ [42, 0, 360],
+ [45, 0, 360],
+ [48, 0, 360],
+ [51, 0, 360],
+ [54, 0, 360],
+ [57, 0, 360],
+ [60, 0, 360],
+ [63, 0, 360],
+ [66, 0, 360],
+ [69, 0, 360],
+ [72, 0, 360],
+ [75, 0, 360],
+ [78, 0, 360],
+ [81, 0, 360],
+ [84, 0, 360],
+ [87, 0, 360],
+ [90, 0, 360],
+ [93, 0, 360],
+ [96, 0, 360],
+ [99, 0, 360],
+ [102, 0, 360],
+ [105, 0, 360],
+ [108, 0, 360],
+ [111, 0, 360],
+ [114, 0, 360],
+ [117, 0, 360],
+ [120, 0, 360],
+ [123, 0, 360],
+ [126, 0, 360]
+ ]
+ }
diff --git a/aip_x2_gen2_launch/launch/hesai_OT128.launch.xml b/aip_x2_gen2_launch/launch/hesai_OT128.launch.xml
index 6315c1b3..ee892983 100644
--- a/aip_x2_gen2_launch/launch/hesai_OT128.launch.xml
+++ b/aip_x2_gen2_launch/launch/hesai_OT128.launch.xml
@@ -30,7 +30,7 @@
-
+
diff --git a/aip_x2_gen2_launch/launch/hesai_QT128.launch.xml b/aip_x2_gen2_launch/launch/hesai_QT128.launch.xml
index 8b0276d5..64825178 100644
--- a/aip_x2_gen2_launch/launch/hesai_QT128.launch.xml
+++ b/aip_x2_gen2_launch/launch/hesai_QT128.launch.xml
@@ -31,7 +31,7 @@
-
+
diff --git a/aip_x2_gen2_launch/launch/lidar.launch.xml b/aip_x2_gen2_launch/launch/lidar.launch.xml
index 5224e317..512c84f7 100644
--- a/aip_x2_gen2_launch/launch/lidar.launch.xml
+++ b/aip_x2_gen2_launch/launch/lidar.launch.xml
@@ -55,7 +55,7 @@
-
+
@@ -70,7 +70,7 @@
-
+
@@ -89,7 +89,7 @@
-
+
@@ -123,6 +123,7 @@
+
@@ -156,6 +157,7 @@
+
@@ -170,8 +172,8 @@
-
-
+
+
@@ -190,7 +192,7 @@
-
+
@@ -224,7 +226,7 @@
-
+
@@ -258,6 +260,7 @@
+
@@ -291,6 +294,7 @@
+