Merge branch 'x2-gen2-v3.0.0' into h-ohta-patch-1

tier4 · Jun 25, 2024 · d10470f · d10470f
2 parents e5a4728 + 0e704c6
commit d10470f
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Showing 4 changed files with 144 additions and 131 deletions.
diff --git a/aip_x2_launch/launch/hesai_OT128.launch.xml b/aip_x2_launch/launch/hesai_OT128.launch.xml
@@ -29,6 +29,7 @@
   <arg name="calibration" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/front_lower.csv" />
   <arg name="dual_return_filter_param_file" default="$(var dual_return_filter_param_file)" />
   <arg name="vehicle_mirror_param_file" default="$(var vehicle_mirror_param_file)" />
+  <arg name="blockage_diagnostics_param_file" default="$(find-pkg-share aip_x2_launch)/config/blockage_diagnostics_param_file.yaml" />
 
   <include file="$(find-pkg-share aip_x2_launch)/launch/nebula_node_container.launch.py">
     <arg name="launch_driver" value="$(var launch_driver)"/>
@@ -53,7 +54,7 @@
     <arg name="container_name" value="$(var container_name)"/>
     <arg name="setup_sensor" value="$(var setup_sensor)"/>
 
-    <arg name="distance_range" value="$(var enable_blockage_diag)"/>
+    <arg name="distance_range" value="$(var distance_range)"/>
     <arg name="blockage_range" value="$(var blockage_range)"/>
     <arg name="vertical_bins" value ="$(var vertical_bins)"/>
     <arg name="horizontal_ring_id" value="$(var horizontal_ring_id)" />
@@ -62,6 +63,7 @@
     <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
     <arg name="calibration" value="$(var calibration)"/>
     <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)"/>
+    <arg name="blockage_diagnostics_param_file" value="$(var blockage_diagnostics_param_file)"/>
 
   </include>
 </launch>
diff --git a/aip_x2_launch/launch/hesai_QT128.launch.xml b/aip_x2_launch/launch/hesai_QT128.launch.xml
@@ -20,6 +20,18 @@
   <arg name="vehicle_mirror_param_file"/>
   <arg name="container_name" default="hesai_node_container"/>
 
+  <arg name="distance_range" default="[0.5, 200.0]"/>
+  <arg name="blockage_range" default="[90.0, 270.0]"/>
+  <arg name="vertical_bins" default ="40" />
+  <arg name="horizontal_ring_id" default="12" />
+  <arg name="is_channel_order_top2down" default="true"/>
+  <arg name="horizontal_resolution" default="0.4"/>
+  <arg name="enable_blockage_diag" default="$(var enable_blockage_diag)"/>
+  <arg name="calibration" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/front_lower.csv" />
+  <arg name="dual_return_filter_param_file" default="$(var dual_return_filter_param_file)" />
+  <arg name="vehicle_mirror_param_file" default="$(var vehicle_mirror_param_file)" />
+  <arg name="blockage_diagnostics_param_file" default="$(find-pkg-share aip_x2_launch)/config/blockage_diagnostics_param_file.yaml" />
+
   <include file="$(find-pkg-share aip_x2_launch)/launch/nebula_node_container.launch.py">
     <arg name="launch_driver" value="$(var launch_driver)"/>
     <arg name="sensor_model" value="$(var model)"/>
@@ -41,5 +53,16 @@
     <arg name="use_intra_process" value="true"/>
     <arg name="use_multithread" value="true"/>
     <arg name="container_name" value="$(var container_name)"/>
+
+    <arg name="distance_range" value="$(var distance_range)"/>
+    <arg name="blockage_range" value="$(var blockage_range)"/>
+    <arg name="vertical_bins" value ="$(var vertical_bins)"/>
+    <arg name="horizontal_ring_id" value="$(var horizontal_ring_id)" />
+    <arg name="is_channel_order_top2down" value="$(var is_channel_order_top2down)"/>
+    <arg name="horizontal_resolution" value="$(var horizontal_resolution)"/>
+    <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
+    <arg name="calibration" value="$(var calibration)"/>
+    <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)"/>
+    <arg name="blockage_diagnostics_param_file" value="$(var blockage_diagnostics_param_file)"/>
   </include>
 </launch>
diff --git a/aip_x2_launch/launch/lidar.launch.xml b/aip_x2_launch/launch/lidar.launch.xml
@@ -11,7 +11,7 @@
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
 
   <arg name="dual_return_filter_param_file" default="$(find-pkg-share aip_x2_launch)/config/dual_return_filter.param.yaml"/>
-  <arg name="enable_blockage_diag" default="true"/>
+  <arg name="enable_blockage_diag" default="false"/>
 
   <group>
     <push-ros-namespace namespace="lidar" />
@@ -34,9 +34,9 @@
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2321"/>
         <arg name="scan_phase" value="90.0"/>
-        <arg name="cloud_min_angle" value="90"/>
-        <arg name="cloud_max_angle" value="270"/>
-        <arg name="return_mode" value="Dual"/>
+        <arg name="cloud_min_angle" value="350"/>
+        <arg name="cloud_max_angle" value="280"/>
+        <arg name="return_mode" value="LastStrongest"/>
         <arg name="ptp_switch_type" value="NON_TSN"/>
         <arg name="ptp_domain" value="1"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
@@ -56,7 +56,7 @@
       </include>
     </group>
 
-    <!-- <group>
+    <group>
       <push-ros-namespace namespace="rear_upper" />
       <include file="$(find-pkg-share aip_x2_launch)/launch/hesai_OT128.launch.xml">
         <arg name="setup_sensor" value="$(var setup_sensor)"/>
@@ -65,14 +65,25 @@
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2322"/>
         <arg name="scan_phase" value="0.0"/>
-        <arg name="cloud_min_angle" value="90"/>
-        <arg name="cloud_max_angle" value="270"/>
-        <arg name="return_mode" value="Dual"/>
+        <arg name="cloud_min_angle" value="78"/>
+        <arg name="cloud_max_angle" value="284"/>
+        <arg name="return_mode" value="LastStrongest"/>
         <arg name="ptp_switch_type" value="NON_TSN"/>
         <arg name="ptp_domain" value="2"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="pointcloud_container"/>
+
+        <arg name="distance_range" value="[0.5, 200.0]"/>
+        <arg name="blockage_range" value="[90.0, 270.0]"/>
+        <arg name="vertical_bins" value ="40" />
+        <arg name="horizontal_ring_id" value="12" />
+        <arg name="is_channel_order_top2down" value="true"/>
+        <arg name="horizontal_resolution" value="0.4"/>
+        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
+        <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/front_lower.csv" />
+        <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
+        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
       </include>
     </group>
 
@@ -85,16 +96,27 @@
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2376"/>
         <arg name="scan_phase" value="90.0"/>
-        <arg name="cloud_min_angle" value="90"/>
-        <arg name="cloud_max_angle" value="270"/>
-        <arg name="return_mode" value="Strongest"/>
+        <arg name="cloud_min_angle" value="75"/>
+        <arg name="cloud_max_angle" value="285"/>
+        <arg name="return_mode" value="LastStrongest"/>
         <arg name="ptp_profile" value="1588v2"/>
         <arg name="ptp_transport_type" value="L2"/>
         <arg name="ptp_switch_type" value="NON_TSN"/>
         <arg name="ptp_domain" value="5"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="pointcloud_container"/>
+
+        <arg name="distance_range" value="[0.5, 200.0]"/>
+        <arg name="blockage_range" value="[90.0, 270.0]"/>
+        <arg name="vertical_bins" value ="40" />
+        <arg name="horizontal_ring_id" value="12" />
+        <arg name="is_channel_order_top2down" value="true"/>
+        <arg name="horizontal_resolution" value="0.4"/>
+        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
+        <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/front_lower.csv" />
+        <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
+        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
       </include>
     </group>
 
@@ -107,21 +129,32 @@
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2377"/>
         <arg name="scan_phase" value="0.0"/>
-        <arg name="cloud_min_angle" value="90"/>
-        <arg name="cloud_max_angle" value="270"/>
-        <arg name="return_mode" value="Strongest"/>
+        <arg name="cloud_min_angle" value="75"/>
+        <arg name="cloud_max_angle" value="285"/>
+        <arg name="return_mode" value="LastStrongest"/>
         <arg name="ptp_profile" value="1588v2"/>
         <arg name="ptp_transport_type" value="L2"/>
         <arg name="ptp_switch_type" value="NON_TSN"/>
         <arg name="ptp_domain" value="5"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="pointcloud_container"/>
+
+        <arg name="distance_range" value="[0.5, 200.0]"/>
+        <arg name="blockage_range" value="[90.0, 270.0]"/>
+        <arg name="vertical_bins" value ="40" />
+        <arg name="horizontal_ring_id" value="12" />
+        <arg name="is_channel_order_top2down" value="true"/>
+        <arg name="horizontal_resolution" value="0.4"/>
+        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
+        <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/front_lower.csv" />
+        <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
+        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
       </include>
-    </group> -->
+    </group>
 
     <!-- LiDARs connected to Sub ECU -->
-    <!-- <group>
+    <group>
       <push-ros-namespace namespace="left_upper" />
       <include file="$(find-pkg-share aip_x2_launch)/launch/hesai_OT128.launch.xml">
         <arg name="setup_sensor" value="$(var setup_sensor)"/>
@@ -130,14 +163,25 @@
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2323"/>
         <arg name="scan_phase" value="270.0"/>
-        <arg name="cloud_min_angle" value="90"/>
-        <arg name="cloud_max_angle" value="270"/>
-        <arg name="return_mode" value="Dual"/>
+        <arg name="cloud_min_angle" value="80"/>
+        <arg name="cloud_max_angle" value="10"/>
+        <arg name="return_mode" value="LastStrongest"/>
         <arg name="ptp_switch_type" value="NON_TSN"/>
         <arg name="ptp_domain" value="3"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
+
+        <arg name="distance_range" value="[0.5, 200.0]"/>
+        <arg name="blockage_range" value="[90.0, 270.0]"/>
+        <arg name="vertical_bins" value ="40" />
+        <arg name="horizontal_ring_id" value="12" />
+        <arg name="is_channel_order_top2down" value="true"/>
+        <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/$(var vehicle_id)/aip_x2/pandar/front_lower.csv" />
+        <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
+        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
       </include>
     </group>
 
@@ -150,14 +194,25 @@
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2324"/>
         <arg name="scan_phase" value="180.0"/>
-        <arg name="cloud_min_angle" value="90"/>
-        <arg name="cloud_max_angle" value="270"/>
-        <arg name="return_mode" value="Dual"/>
+        <arg name="cloud_min_angle" value="87"/>
+        <arg name="cloud_max_angle" value="287"/>
+        <arg name="return_mode" value="LastStrongest"/>
         <arg name="ptp_switch_type" value="NON_TSN"/>
         <arg name="ptp_domain" value="4"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
+
+        <arg name="distance_range" value="[0.5, 200.0]"/>
+        <arg name="blockage_range" value="[90.0, 270.0]"/>
+        <arg name="vertical_bins" value ="40" />
+        <arg name="horizontal_ring_id" value="12" />
+        <arg name="is_channel_order_top2down" value="true"/>
+        <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/$(var vehicle_id)/aip_x2/pandar/front_lower.csv" />
+        <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
+        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
       </include>
     </group>
 
@@ -170,16 +225,27 @@
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2378"/>
         <arg name="scan_phase" value="270.0"/>
-        <arg name="cloud_min_angle" value="90"/>
-        <arg name="cloud_max_angle" value="270"/>
-        <arg name="return_mode" value="Strongest"/>
+        <arg name="cloud_min_angle" value="75"/>
+        <arg name="cloud_max_angle" value="285"/>
+        <arg name="return_mode" value="LastStrongest"/>
         <arg name="ptp_profile" value="1588v2"/>
         <arg name="ptp_transport_type" value="L2"/>
         <arg name="ptp_switch_type" value="NON_TSN"/>
         <arg name="ptp_domain" value="5"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
+
+        <arg name="distance_range" value="[0.5, 200.0]"/>
+        <arg name="blockage_range" value="[90.0, 270.0]"/>
+        <arg name="vertical_bins" value ="40" />
+        <arg name="horizontal_ring_id" value="12" />
+        <arg name="is_channel_order_top2down" value="true"/>
+        <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/$(var vehicle_id)/aip_x2/pandar/front_lower.csv" />
+        <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
+        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
       </include>
     </group>
 
@@ -192,18 +258,29 @@
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2379"/>
         <arg name="scan_phase" value="180.0"/>
-        <arg name="cloud_min_angle" value="90"/>
-        <arg name="cloud_max_angle" value="270"/>
-        <arg name="return_mode" value="Strongest"/>
+        <arg name="cloud_min_angle" value="75"/>
+        <arg name="cloud_max_angle" value="285"/>
+        <arg name="return_mode" value="LastStrongest"/>
         <arg name="ptp_profile" value="1588v2"/>
         <arg name="ptp_transport_type" value="L2"/>
         <arg name="ptp_switch_type" value="NON_TSN"/>
         <arg name="ptp_domain" value="5"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
+
+        <arg name="distance_range" value="[0.5, 200.0]"/>
+        <arg name="blockage_range" value="[90.0, 270.0]"/>
+        <arg name="vertical_bins" value ="40" />
+        <arg name="horizontal_ring_id" value="12" />
+        <arg name="is_channel_order_top2down" value="true"/>
+        <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/$(var vehicle_id)/aip_x2/pandar/front_lower.csv" />
+        <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
+        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
       </include>
-    </group> -->
+    </group>
 
   </group>
 </launch>