From db719046db7de2e96fa0d0b2b5ac2d57a7a421d5 Mon Sep 17 00:00:00 2001
From: kotaro-hihara <kotaro.hihara@tier4.jp>
Date: Thu, 28 Nov 2024 12:03:38 +0900
Subject: [PATCH] fix params for blockage_diag

---
 .../launch/hesai_OT128.launch.xml             |  2 +-
 .../launch/hesai_QT128.launch.xml             |  2 +-
 aip_x2_gen2_launch/launch/lidar.launch.xml    | 24 +++++++++----------
 3 files changed, 14 insertions(+), 14 deletions(-)

diff --git a/aip_x2_gen2_launch/launch/hesai_OT128.launch.xml b/aip_x2_gen2_launch/launch/hesai_OT128.launch.xml
index e9cd6805..9d82aff6 100644
--- 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
index 80c73b0b..07bdfbe7 100644
--- 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
index 970af789..33981799 100644
--- 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" />