diff --git a/aip_x2_launch/launch/lidar.launch.xml b/aip_x2_launch/launch/lidar.launch.xml index a6bf2c3d..a1c8f5f6 100644 --- a/aip_x2_launch/launch/lidar.launch.xml +++ b/aip_x2_launch/launch/lidar.launch.xml @@ -6,7 +6,6 @@ - @@ -26,10 +25,6 @@ - - - - @@ -50,10 +45,6 @@ - - - - @@ -76,10 +67,6 @@ - - - - @@ -101,10 +88,6 @@ - - - - @@ -128,10 +111,6 @@ - - - - @@ -153,10 +132,6 @@ - - - - @@ -180,10 +155,6 @@ - - - - @@ -205,10 +176,6 @@ - - - - diff --git a/aip_x2_launch/launch/pandar_node_container.launch.py b/aip_x2_launch/launch/pandar_node_container.launch.py index c6f1da37..cfb39cc4 100644 --- a/aip_x2_launch/launch/pandar_node_container.launch.py +++ b/aip_x2_launch/launch/pandar_node_container.launch.py @@ -245,9 +245,7 @@ def create_parameter_dict(*args): "angle_range": LaunchConfiguration("angle_range"), "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"), - "horizontal_resolution": LaunchConfiguration("horizontal_resolution"), + "model": LaunchConfiguration("model"), } ] + [load_composable_node_param("blockage_diagnostics_param_file")], @@ -325,8 +323,6 @@ def add_launch_arg(name: str, default_value=None): add_launch_arg("input_frame", LaunchConfiguration("base_frame")) 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"],