fix: remove x2 redundant param

Signed-off-by: badai-nguyen <[email protected]>
tier4 · Feb 15, 2024 · b564fcd · b564fcd
1 parent 762caf4
commit b564fcd
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Showing 2 changed files with 6 additions and 10 deletions.
diff --git a/aip_x2_launch/launch/lidar.launch.xml b/aip_x2_launch/launch/lidar.launch.xml
@@ -28,7 +28,6 @@
         <arg name="min_azimuth_deg" value="135.0"/>
         <arg name="max_azimuth_deg" value="225.0"/>
         <arg name="is_channel_order_top2down" value="true"/>
-        <arg name="max_distance_range" value="200.0"/>
         <arg name="horizontal_resolution" value="0.4"/>
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/front_lower.csv" />
@@ -52,7 +51,6 @@
         <arg name="horizontal_ring_id" value="40" />
         <arg name="return_mode" value="First" />
         <arg name="is_channel_order_top2down" value="false"/>
-        <arg name="max_distance_range" value="7.5"/>
         <arg name="horizontal_resolution" value="0.6"/>
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/front_upper.csv" />
@@ -78,7 +76,6 @@
         <arg name="min_azimuth_deg" value="225.0"/>
         <arg name="max_azimuth_deg" value="315.0"/>
         <arg name="is_channel_order_top2down" value="true"/>
-        <arg name="max_distance_range" value="200.0"/>
         <arg name="horizontal_resolution" value="0.4"/>
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="return_mode" value="Dual" />
@@ -103,7 +100,6 @@
         <arg name="vertical_bins" value ="64" />
         <arg name="horizontal_ring_id" value="54" />
         <arg name="is_channel_order_top2down" value="false"/>
-        <arg name="max_distance_range" value="7.5"/>
         <arg name="horizontal_resolution" value="0.6"/>
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="return_mode" value="First" />
@@ -130,7 +126,6 @@
         <arg name="min_azimuth_deg" value="45.0"/>
         <arg name="max_azimuth_deg" value="135.0"/>
         <arg name="is_channel_order_top2down" value="true"/>
-        <arg name="max_distance_range" value="200.0"/>
         <arg name="horizontal_resolution" value="0.4"/>
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="return_mode" value="Dual" />
@@ -155,7 +150,6 @@
         <arg name="vertical_bins" value ="64" />
         <arg name="horizontal_ring_id" value="54" />
         <arg name="is_channel_order_top2down" value="false"/>
-        <arg name="max_distance_range" value="7.5"/>
         <arg name="horizontal_resolution" value="0.6"/>
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="return_mode" value="First" />
@@ -182,7 +176,6 @@
         <arg name="min_azimuth_deg" value="135.0"/>
         <arg name="max_azimuth_deg" value="225.0"/>
         <arg name="is_channel_order_top2down" value="true"/>
-        <arg name="max_distance_range" value="200.0"/>
         <arg name="horizontal_resolution" value="0.4"/>
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="return_mode" value="Strongest" />
@@ -207,7 +200,6 @@
         <arg name="vertical_bins" value ="64" />
         <arg name="horizontal_ring_id" value="40" />
         <arg name="is_channel_order_top2down" value="false"/>
-        <arg name="max_distance_range" value="7.5"/>
         <arg name="horizontal_resolution" value="0.6"/>
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="return_mode" value="First" />

diff --git a/aip_x2_launch/launch/pandar_node_container.launch.py b/aip_x2_launch/launch/pandar_node_container.launch.py
@@ -43,6 +43,10 @@ def get_pandar_monitor_info():
     return p
 
 
+def str2vector(string):
+    return [float(x) for x in string.strip("[]").split(",")]
+
+
 def get_vehicle_info(context):
     # TODO(TIER IV): Use Parameter Substitution after we drop Galactic support
     # https://github.com/ros2/launch_ros/blob/master/launch_ros/launch_ros/substitutions/parameter.py
@@ -232,6 +236,7 @@ def create_parameter_dict(*args):
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )
 
+    distance_range = str2vector(context.perform_substitution(LaunchConfiguration("distance_range")))
     blockage_diag_component = ComposableNode(
         package="pointcloud_preprocessor",
         plugin="pointcloud_preprocessor::BlockageDiagComponent",
@@ -246,7 +251,7 @@ def create_parameter_dict(*args):
                 "horizontal_ring_id": LaunchConfiguration("horizontal_ring_id"),
                 "vertical_bins": LaunchConfiguration("vertical_bins"),
                 "is_channel_order_top2down": LaunchConfiguration("is_channel_order_top2down"),
-                "max_distance_range": LaunchConfiguration("max_distance_range"),
+                "max_distance_range": distance_range[1],
                 "horizontal_resolution": LaunchConfiguration("horizontal_resolution"),
             }
         ]
@@ -326,7 +331,6 @@ def add_launch_arg(name: str, default_value=None):
     add_launch_arg("output_frame", LaunchConfiguration("base_frame"))
     add_launch_arg("dual_return_filter_param_file")
     add_launch_arg("horizontal_resolution", "0.4")
-    add_launch_arg("max_distance_range", "200.0")
     add_launch_arg(
         "blockage_diagnostics_param_file",
         [FindPackageShare("aip_x2_launch"), "/config/blockage_diagnostics_param_file.yaml"],