From c115673732595fc4700518bb294861302c41067f Mon Sep 17 00:00:00 2001
From: Yasuyuki Takahashi <1272904+joker-yt@users.noreply.github.com>
Date: Fri, 20 Sep 2024 13:20:45 +0900
Subject: [PATCH] Update lidar.launch.xml

params for #1 or #2 based on v3.1.0
---
 aip_x2_launch/launch/lidar.launch.xml | 24 ++++++++++++------------
 1 file changed, 12 insertions(+), 12 deletions(-)

diff --git a/aip_x2_launch/launch/lidar.launch.xml b/aip_x2_launch/launch/lidar.launch.xml
index f59b094e..a23cfc77 100644
--- a/aip_x2_launch/launch/lidar.launch.xml
+++ b/aip_x2_launch/launch/lidar.launch.xml
@@ -45,13 +45,13 @@
         <arg name="device_ip" value="192.168.120.211" />
         <arg name="lidar_port" value="2331" />
         <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_range" value="[90.0, 270.0]"/>
+        <!--arg name="scan_phase" value="270.0" /-->
+        <!--arg name="angle_range" value="[90.0, 270.0]"/-->
+        <!--arg name="blockage_range" value="[90.0, 270.0]"/-->
         <!--for j6#1#2-->
-        <!--arg name="scan_phase" value="300.0" /-->
-        <!--arg name="angle_range" value="[120.0, 300.0]"/-->
-        <!--arg name="blockage_range" value="[120.0, 300.0]"/-->
+        <arg name="scan_phase" value="300.0" />
+        <arg name="angle_range" value="[120.0, 300.0]"/>
+        <arg name="blockage_range" value="[120.0, 300.0]"/>
         <arg name="distance_range" value="[0.1, 20.0]"/>
         <arg name="vertical_bins" value ="64" />
         <arg name="horizontal_ring_id" value="40" />
@@ -205,13 +205,13 @@
         <arg name="device_ip" value="192.168.120.214" />
         <arg name="lidar_port" value="2334" />
         <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_range" value="[90.0, 270.0]"/>
+        <!--arg name="scan_phase" value="180.0" /-->
+        <!--arg name="angle_range" value="[90.0, 270.0]"/-->
+        <!--arg name="blockage_range" value="[90.0, 270.0]"/-->
         <!--for j6#1#2-->
-        <!--arg name="scan_phase" value="200.0" /-->
-        <!--arg name="angle_range" value="[110.0, 290.0]"/-->
-        <!--arg name="blockage_range" value="[110.0, 290.0]"/-->
+        <arg name="scan_phase" value="200.0" />
+        <arg name="angle_range" value="[110.0, 290.0]"/>
+        <arg name="blockage_range" value="[110.0, 290.0]"/>
         <arg name="distance_range" value="[0.1, 20.0]"/>
         <arg name="vertical_bins" value ="64" />
         <arg name="horizontal_ring_id" value="40" />