complete to write lidar settings

Signed-off-by: yuki.takagi@car_8 <[email protected]>
tier4 · Feb 28, 2024 · dec2668 · dec2668
1 parent 106edb7
commit dec2668
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Showing 5 changed files with 32 additions and 30 deletions.
diff --git a/aip_xx1_description/config/sensors_calibration.yaml b/aip_xx1_description/config/sensors_calibration.yaml
@@ -20,13 +20,13 @@ base_link:
     roll: 0.0 # Design Value
     pitch: 0.0 # Design Value
     yaw: -0.872665 # Design Value
-  velodyne_rear_base_link: #unused
-    x: -0.358
-    y: 0.0
-    z: 1.631
-    roll: -0.02
-    pitch: 0.7281317
-    yaw: 3.141592
+  # velodyne_rear_base_link: #unused
+  #   x: -0.358
+  #   y: 0.0
+  #   z: 1.631
+  #   roll: -0.02
+  #   pitch: 0.7281317
+  #   yaw: 3.141592
   ars548_front_center_base_link:
     x: 3.520 # Design Value
     y: 0.0 # Design Value

diff --git a/aip_xx1_description/urdf/sensors.xacro b/aip_xx1_description/urdf/sensors.xacro
@@ -16,7 +16,7 @@
     yaw="${calibration['base_link']['sensor_kit_base_link']['yaw']}"
   />
   <!-- embedded lidar sensors -->
-  <xacro:include filename="$(find velodyne_description)/urdf/VLP-16.urdf.xacro"/>
+  <!-- <xacro:include filename="$(find velodyne_description)/urdf/VLP-16.urdf.xacro"/>
   <xacro:VLP-16
     parent="base_link"
     name="velodyne_rear"
@@ -33,7 +33,7 @@
            ${calibration['base_link']['velodyne_rear_base_link']['pitch']}
            ${calibration['base_link']['velodyne_rear_base_link']['yaw']}"
     />
-  </xacro:VLP-16>
+  </xacro:VLP-16> -->
   <xacro:include filename="$(find pandar_description)/urdf/pandar_xt32.xacro"/>
   <xacro:PandarXT-32
     name="hesai_front_left"
@@ -57,7 +57,7 @@
   />
 
   <!-- embedded radar sensors -->
-  <xacro:include filename="$(find radar_description)/urdf/radar.xacro"/>
+  <!-- <xacro:include filename="$(find radar_description)/urdf/radar.xacro"/>
   <xacro:radar_macro
     name="ars548_front_center"
     parent="base_link"
@@ -117,5 +117,5 @@
     roll="${calibration['base_link']['ars548_back_left_base_link']['roll']}"
     pitch="${calibration['base_link']['ars548_back_left_base_link']['pitch']}"
     yaw="${calibration['base_link']['ars548_back_left_base_link']['yaw']}"
-  />
+  /> -->
 </robot>
diff --git a/aip_xx1_launch/launch/lidar.launch.xml b/aip_xx1_launch/launch/lidar.launch.xml
@@ -13,7 +13,7 @@
 
     <group>
       <push-ros-namespace namespace="top"/>
-      <include file="$(find-pkg-share common_sensor_launch)/launch/velodyne_VLS128.launch.xml">
+      <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_OT128.launch.xml">
         <arg name="sensor_frame" value="hesai_top"/>
         <arg name="sensor_ip" value="192.168.1.201"/>
         <arg name="host_ip" value="$(var host_ip)"/>
@@ -27,13 +27,13 @@
 
     <group>
       <push-ros-namespace namespace="front_left"/>
-      <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launchxml">
+      <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launch.xml">
         <arg name="max_range" value="5.0"/>
         <arg name="sensor_frame" value="hesai_front_left"/>
-        <arg name="sensor_ip" value="192.168.2.21"/>
+        <arg name="sensor_ip" value="192.168.1.21"/>
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2369"/>
-        <arg name="scan_phase" value="230.0"/>
+        <arg name="scan_phase" value="50.0"/>
         <arg name="cloud_min_angle" value="50"/>
         <arg name="cloud_max_angle" value="320"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
@@ -47,10 +47,10 @@
       <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launch.xml">
         <arg name="max_range" value="5.0"/>
         <arg name="sensor_frame" value="hesai_front_right"/>
-        <arg name="sensor_ip" value="192.168.2.22"/>
+        <arg name="sensor_ip" value="192.168.1.22"/>
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2370"/>
-        <arg name="scan_phase" value="130.0"/>
+        <arg name="scan_phase" value="310.0"/>
         <arg name="cloud_min_angle" value="40"/>
         <arg name="cloud_max_angle" value="310"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
@@ -61,13 +61,13 @@
 
     <group>
       <push-ros-namespace namespace="side_left"/>
-      <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launchxml">
+      <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launch.xml">
         <arg name="max_range" value="5.0"/>
-        <arg name="sensor_frame" value="hesai_left"/>
-        <arg name="sensor_ip" value="192.168.2.23"/>
+        <arg name="sensor_frame" value="hesai_side_left"/>
+        <arg name="sensor_ip" value="192.168.1.23"/>
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2371"/>
-        <arg name="scan_phase" value="270.0"/>
+        <arg name="scan_phase" value="90.0"/>
         <arg name="cloud_min_angle" value="90"/>
         <arg name="cloud_max_angle" value="270"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
@@ -80,11 +80,11 @@
       <push-ros-namespace namespace="side_right"/>
       <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launch.xml">
         <arg name="max_range" value="5.0"/>
-        <arg name="sensor_frame" value="hesai_right"/>
-        <arg name="sensor_ip" value="192.168.2.24"/>
+        <arg name="sensor_frame" value="hesai_side_right"/>
+        <arg name="sensor_ip" value="192.168.1.24"/>
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2372"/>
-        <arg name="scan_phase" value="90.0"/>
+        <arg name="scan_phase" value="270.0"/>
         <arg name="cloud_min_angle" value="90"/>
         <arg name="cloud_max_angle" value="270"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>

diff --git a/aip_xx1_launch/launch/sensing.launch.xml b/aip_xx1_launch/launch/sensing.launch.xml
@@ -23,19 +23,19 @@
     </include> -->
 
     <!-- IMU Driver -->
-    <include file="$(find-pkg-share aip_xx1_launch)/launch/imu.launch.xml">
+    <!-- <include file="$(find-pkg-share aip_xx1_launch)/launch/imu.launch.xml">
       <arg name="launch_driver" value="$(var launch_driver)" />
-    </include>
+    </include> -->
 
     <!-- GNSS Driver -->
-    <include file="$(find-pkg-share aip_xx1_launch)/launch/gnss.launch.xml">
+    <!-- <include file="$(find-pkg-share aip_xx1_launch)/launch/gnss.launch.xml">
       <arg name="launch_driver" value="$(var launch_driver)" />
-    </include>
+    </include> -->
 
     <!-- Radar Driver -->
-    <include file="$(find-pkg-share aip_xx1_launch)/launch/radar.launch.xml">
+    <!-- <include file="$(find-pkg-share aip_xx1_launch)/launch/radar.launch.xml">
       <arg name="launch_driver" value="$(var launch_driver)" />
-    </include>
+    </include> -->
 
     <!-- Vehicle twist -->
     <include file="$(find-pkg-share vehicle_velocity_converter)/launch/vehicle_velocity_converter.launch.xml">

diff --git a/common_sensor_launch/launch/hesai_XT32.launch.xml b/common_sensor_launch/launch/hesai_XT32.launch.xml
@@ -12,6 +12,7 @@
   <arg name="scan_phase" default="0.0"/>
   <arg name="cloud_min_angle" default="0"/>
   <arg name="cloud_max_angle" default="360"/>
+  <arg name="max_range" default="100.0"/>
   <arg name="dual_return_distance_threshold" default="0.1"/>
   <arg name="vehicle_mirror_param_file"/>
   <arg name="container_name" default="hesai_node_container"/>
@@ -27,6 +28,7 @@
     <arg name="scan_phase" value="$(var scan_phase)"/>
     <arg name="cloud_min_angle" value="$(var cloud_min_angle)"/>
     <arg name="cloud_max_angle" value="$(var cloud_max_angle)"/>
+    <arg name="max_range" value="$(var max_range)"/>
     <arg name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/>
     <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
     <arg name="use_intra_process" value="true"/>