fix params for blockage_diag

tier4 · Nov 28, 2024 · db71904 · db71904
1 parent b72f749
commit db71904
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Showing 3 changed files with 14 additions and 14 deletions.
diff --git a/aip_x2_gen2_launch/launch/hesai_OT128.launch.xml b/aip_x2_gen2_launch/launch/hesai_OT128.launch.xml
@@ -22,7 +22,7 @@
 
   <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="vertical_bins" default ="128" />
   <arg name="horizontal_ring_id" default="12" />
   <arg name="is_channel_order_top2down" default="true"/>
   <arg name="horizontal_resolution" default="0.4"/>

diff --git a/aip_x2_gen2_launch/launch/hesai_QT128.launch.xml b/aip_x2_gen2_launch/launch/hesai_QT128.launch.xml
@@ -23,7 +23,7 @@
 
   <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="vertical_bins" default ="128" />
   <arg name="horizontal_ring_id" default="12" />
   <arg name="is_channel_order_top2down" default="true"/>
   <arg name="horizontal_resolution" default="0.4"/>

diff --git a/aip_x2_gen2_launch/launch/lidar.launch.xml b/aip_x2_gen2_launch/launch/lidar.launch.xml
@@ -49,7 +49,7 @@
         <arg name="distance_range" value="[0.5, 200.0]"/>
         <arg name="blockage_range" value="[90.0, 270.0]"/>
         <arg name="vertical_bins" value ="128" />
-        <arg name="horizontal_ring_id" value="12" />
+        <arg name="horizontal_ring_id" value="40" />
         <arg name="is_channel_order_top2down" value="true"/>
         <arg name="horizontal_resolution" value="0.4"/>
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
@@ -83,7 +83,7 @@
         <arg name="distance_range" value="[0.5, 200.0]"/>
         <arg name="blockage_range" value="[90.0, 270.0]"/>
         <arg name="vertical_bins" value ="128" />
-        <arg name="horizontal_ring_id" value="12" />
+        <arg name="horizontal_ring_id" value="40" />
         <arg name="is_channel_order_top2down" value="true"/>
         <arg name="horizontal_resolution" value="0.4"/>
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
@@ -117,8 +117,8 @@
         <arg name="distance_range" value="[0.5, 200.0]"/>
         <arg name="blockage_range" value="[90.0, 270.0]"/>
         <arg name="vertical_bins" value ="128" />
-        <arg name="horizontal_ring_id" value="12" />
-        <arg name="is_channel_order_top2down" value="true"/>
+        <arg name="horizontal_ring_id" value="118" />
+        <arg name="is_channel_order_top2down" value="false"/>
         <arg name="horizontal_resolution" value="0.4"/>
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="calibration_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/rear_lower.csv" />
@@ -151,8 +151,8 @@
         <arg name="distance_range" value="[0.5, 200.0]"/>
         <arg name="blockage_range" value="[90.0, 270.0]"/>
         <arg name="vertical_bins" value ="128" />
-        <arg name="horizontal_ring_id" value="12" />
-        <arg name="is_channel_order_top2down" value="true"/>
+        <arg name="horizontal_ring_id" value="118" />
+        <arg name="is_channel_order_top2down" value="false"/>
         <arg name="horizontal_resolution" value="0.4"/>
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="calibration_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/left_lower.csv" />
@@ -186,7 +186,7 @@
         <arg name="distance_range" value="[0.5, 200.0]"/>
         <arg name="blockage_range" value="[90.0, 270.0]"/>
         <arg name="vertical_bins" value ="128" />
-        <arg name="horizontal_ring_id" value="12" />
+        <arg name="horizontal_ring_id" value="40" />
         <arg name="is_channel_order_top2down" value="true"/>
         <arg name="horizontal_resolution" value="0.4"/>
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
@@ -220,7 +220,7 @@
         <arg name="distance_range" value="[0.5, 200.0]"/>
         <arg name="blockage_range" value="[90.0, 270.0]"/>
         <arg name="vertical_bins" value ="128" />
-        <arg name="horizontal_ring_id" value="12" />
+        <arg name="horizontal_ring_id" value="40" />
         <arg name="is_channel_order_top2down" value="true"/>
         <arg name="horizontal_resolution" value="0.4"/>
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
@@ -254,8 +254,8 @@
         <arg name="distance_range" value="[0.5, 200.0]"/>
         <arg name="blockage_range" value="[90.0, 270.0]"/>
         <arg name="vertical_bins" value ="128" />
-        <arg name="horizontal_ring_id" value="12" />
-        <arg name="is_channel_order_top2down" value="true"/>
+        <arg name="horizontal_ring_id" value="118" />
+        <arg name="is_channel_order_top2down" value="false"/>
         <arg name="horizontal_resolution" value="0.4"/>
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="calibration_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/front_lower.csv" />
@@ -288,8 +288,8 @@
         <arg name="distance_range" value="[0.5, 200.0]"/>
         <arg name="blockage_range" value="[90.0, 270.0]"/>
         <arg name="vertical_bins" value ="128" />
-        <arg name="horizontal_ring_id" value="12" />
-        <arg name="is_channel_order_top2down" value="true"/>
+        <arg name="horizontal_ring_id" value="118" />
+        <arg name="is_channel_order_top2down" value="false"/>
         <arg name="horizontal_resolution" value="0.4"/>
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="calibration_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/right_lower.csv" />