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update lidar.launch.xml
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Signed-off-by: t4-x2 <[email protected]>
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@t4-x2
t4-x2 committed Jun 19, 2024
1 parent 373998e commit c04c1a5
Showing 1 changed file with 25 additions and 20 deletions.
45 changes: 25 additions & 20 deletions aip_x2_launch/launch/lidar.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -21,14 +21,15 @@
<arg name="pointcloud_container_name" value="pointcloud_container"/>
</include>

<!-- LiDARs connected to Main ECU -->
<group>
<push-ros-namespace namespace="right_upper" />
<include file="$(find-pkg-share common_sensor_launch)/launch/hesai_OT128.launch.xml">
<include file="$(find-pkg-share aip_x2_launch)/launch/hesai_OT128.launch.xml">
<arg name="setup_sensor" value="$(var setup_sensor)"/>
<arg name="sensor_frame" value="pandar_40p_right"/>
<arg name="sensor_ip" value="192.168.1.203"/>
<arg name="sensor_ip" value="192.168.1.202"/>
<arg name="host_ip" value="$(var host_ip)"/>
<arg name="data_port" value="2372"/>
<arg name="data_port" value="2321"/>
<arg name="scan_phase" value="270.0"/>
<arg name="cloud_min_angle" value="90"/>
<arg name="cloud_max_angle" value="270"/>
Expand All @@ -43,12 +44,12 @@

<group>
<push-ros-namespace namespace="rear_upper" />
<include file="$(find-pkg-share common_sensor_launch)/launch/hesai_OT128.launch.xml">
<include file="$(find-pkg-share aip_x2_launch)/launch/hesai_OT128.launch.xml">
<arg name="setup_sensor" value="$(var setup_sensor)"/>
<arg name="sensor_frame" value="pandar_40p_rear"/>
<arg name="sensor_ip" value="192.168.1.204"/>
<arg name="sensor_ip" value="192.168.1.203"/>
<arg name="host_ip" value="$(var host_ip)"/>
<arg name="data_port" value="2373"/>
<arg name="data_port" value="2322"/>
<arg name="scan_phase" value="180.0"/>
<arg name="cloud_min_angle" value="90"/>
<arg name="cloud_max_angle" value="270"/>
Expand All @@ -63,9 +64,10 @@

<group>
<push-ros-namespace namespace="right_lower" />
<include file="$(find-pkg-share common_sensor_launch)/launch/hesai_QT128.launch.xml">
<include file="$(find-pkg-share aip_x2_launch)/launch/hesai_QT128.launch.xml">
<arg name="setup_sensor" value="$(var setup_sensor)"/>
<arg name="sensor_frame" value="pandar_qt_right"/>
<arg name="sensor_ip" value="192.168.1.213"/>
<arg name="sensor_ip" value="192.168.1.212"/>
<arg name="host_ip" value="$(var host_ip)"/>
<arg name="data_port" value="2376"/>
<arg name="scan_phase" value="270.0"/>
Expand All @@ -84,9 +86,10 @@

<group>
<push-ros-namespace namespace="rear_lower" />
<include file="$(find-pkg-share common_sensor_launch)/launch/hesai_QT128.launch.xml">
<include file="$(find-pkg-share aip_x2_launch)/launch/hesai_QT128.launch.xml">
<arg name="setup_sensor" value="$(var setup_sensor)"/>
<arg name="sensor_frame" value="pandar_qt_rear"/>
<arg name="sensor_ip" value="192.168.1.214"/>
<arg name="sensor_ip" value="192.168.1.213"/>
<arg name="host_ip" value="$(var host_ip)"/>
<arg name="data_port" value="2377"/>
<arg name="scan_phase" value="180.0"/>
Expand All @@ -106,12 +109,12 @@
<!-- LiDARs connected to Sub ECU -->
<group>
<push-ros-namespace namespace="left_upper" />
<include file="$(find-pkg-share common_sensor_launch)/launch/hesai_OT128.launch.xml">
<include file="$(find-pkg-share aip_x2_launch)/launch/hesai_OT128.launch.xml">
<arg name="setup_sensor" value="$(var setup_sensor)"/>
<arg name="sensor_frame" value="pandar_40p_left"/>
<arg name="sensor_ip" value="192.168.1.201"/>
<arg name="sensor_ip" value="192.168.1.204"/>
<arg name="host_ip" value="$(var host_ip)"/>
<arg name="data_port" value="2374"/>
<arg name="data_port" value="2323"/>
<arg name="scan_phase" value="270.0"/>
<arg name="cloud_min_angle" value="90"/>
<arg name="cloud_max_angle" value="270"/>
Expand All @@ -126,12 +129,12 @@

<group>
<push-ros-namespace namespace="front_upper" />
<include file="$(find-pkg-share common_sensor_launch)/launch/hesai_OT128.launch.xml">
<include file="$(find-pkg-share aip_x2_launch)/launch/hesai_OT128.launch.xml">
<arg name="setup_sensor" value="$(var setup_sensor)"/>
<arg name="sensor_frame" value="pandar_40p_front"/>
<arg name="sensor_ip" value="192.168.1.202"/>
<arg name="sensor_ip" value="192.168.1.205"/>
<arg name="host_ip" value="$(var host_ip)"/>
<arg name="data_port" value="2375"/>
<arg name="data_port" value="2324"/>
<arg name="scan_phase" value="180.0"/>
<arg name="cloud_min_angle" value="90"/>
<arg name="cloud_max_angle" value="270"/>
Expand All @@ -146,9 +149,10 @@

<group>
<push-ros-namespace namespace="left_lower" />
<include file="$(find-pkg-share common_sensor_launch)/launch/hesai_QT128.launch.xml">
<include file="$(find-pkg-share aip_x2_launch)/launch/hesai_QT128.launch.xml">
<arg name="setup_sensor" value="$(var setup_sensor)"/>
<arg name="sensor_frame" value="pandar_qt_left"/>
<arg name="sensor_ip" value="192.168.1.211"/>
<arg name="sensor_ip" value="192.168.1.214"/>
<arg name="host_ip" value="$(var host_ip)"/>
<arg name="data_port" value="2378"/>
<arg name="scan_phase" value="270.0"/>
Expand All @@ -167,9 +171,10 @@

<group>
<push-ros-namespace namespace="front_lower" />
<include file="$(find-pkg-share common_sensor_launch)/launch/hesai_QT128.launch.xml">
<include file="$(find-pkg-share aip_x2_launch)/launch/hesai_QT128.launch.xml">
<arg name="setup_sensor" value="$(var setup_sensor)"/>
<arg name="sensor_frame" value="pandar_qt_front"/>
<arg name="sensor_ip" value="192.168.1.212"/>
<arg name="sensor_ip" value="192.168.1.215"/>
<arg name="host_ip" value="$(var host_ip)"/>
<arg name="data_port" value="2379"/>
<arg name="scan_phase" value="180.0"/>
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