feat(aip_x2_launch): add distortion corrector parameters (#317)

feat: add parameter for aip_launcher_x2

Signed-off-by: vividf <[email protected]>

aip_x2_launch/config/distortion_corrector_node.param.yaml

@@ -0,0 +1,6 @@
+/**:
+  ros__parameters:
+    base_frame: base_link
+    use_imu: true
+    use_3d_distortion_correction: false
+    has_static_tf_only: true

aip_x2_launch/launch/pandar_node_container.launch.py

@@ -203,6 +203,7 @@ def create_parameter_dict(*args):
             ("~/input/pointcloud", "mirror_cropped/pointcloud_ex"),
             ("~/output/pointcloud", "rectified/pointcloud_ex"),
         ],
+        parameters=[load_composable_node_param("distortion_corrector_node_param_file")],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )
 
@@ -343,6 +344,10 @@ def add_launch_arg(name: str, default_value=None):
         "blockage_diagnostics_param_file",
         [FindPackageShare("aip_x2_launch"), "/config/blockage_diagnostics_param_file.yaml"],
     )
+    add_launch_arg(
+        "distortion_corrector_node_param_file",
+        [FindPackageShare("aip_x2_launch"), "/config/distortion_corrector_node.param.yaml"],
+    )
     add_launch_arg("vehicle_mirror_param_file")
     add_launch_arg("use_multithread", "true")
     add_launch_arg("use_intra_process", "true")