From fc756c11735faada9cea620cb0f2a4e2facdd29b Mon Sep 17 00:00:00 2001
From: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp>
Date: Mon, 1 Apr 2024 21:19:03 +0900
Subject: [PATCH] exclude hw_interface_node to outside container

Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp>
---
 .../launch/hesai_OT128.launch.xml             | 25 ++++----
 .../launch/nebula_node_container.launch.py    | 60 +++++++++----------
 2 files changed, 43 insertions(+), 42 deletions(-)

diff --git a/common_sensor_launch/launch/hesai_OT128.launch.xml b/common_sensor_launch/launch/hesai_OT128.launch.xml
index c7e9bfe9..fd090304 100644
--- a/common_sensor_launch/launch/hesai_OT128.launch.xml
+++ b/common_sensor_launch/launch/hesai_OT128.launch.xml
@@ -17,7 +17,7 @@
   <arg name="container_name" default="hesai_node_container"/>
 
   <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
-    <arg name="launch_driver" value="$(var launch_driver)"/>
+    <arg name="launch_driver" value="false"/> <!-- Enforce to disable -->
     <arg name="sensor_model" value="$(var model)"/>
     <arg name="return_mode" value="$(var return_mode)"/>
     <arg name="frame_id" value="$(var sensor_frame)"/>
@@ -39,23 +39,28 @@
     <arg name="setup_sensor" value="false"/>
   </include>
 
-  <node pkg="nebula_ros" name="hesai_driver_ros_wrapper_node" exec="hesai_driver_ros_wrapper_node">
-    <remap from="aw_points" to="pointcloud_raw" />
-    <remap from="aw_points_ex" to="pointcloud_raw_ex" />
-    <param name="calibration_file" value="$(find-pkg-share nebula_decoders)/calibration/hesai/$(var model).csv"/>
+  <node pkg="nebula_ros" name="hesai_hw_interface_ros_wrapper_node" exec="hesai_hw_interface_ros_wrapper_node">
     <param name="sensor_model" value="$(var model)"/>
+    <param name="calibration_file" value="$(find-pkg-share nebula_decoders)/calibration/hesai/$(var model).csv"/>
 
-    <param name="host_ip" value="$(var host_ip)"/>
     <param name="sensor_ip" value="$(var sensor_ip)"/>
-    <param name="data_port" value="$(var data_port)"/>
+    <param name="host_ip" value="$(var host_ip)"/>
+    <param name="scane_phase" value="$(var scan_phase)"/>
     <param name="return_mode" value="$(var return_mode)"/>
-    <param name="min_range" value="0.3"/>
-    <param name="max_range" value="300.0"/>
     <param name="frame_id" value="$(var sensor_frame)"/>
-    <param name="scane_phase" value="$(var scan_phase)"/>
+    <param name="rotation_speed" value="600"/>
+    <param name="data_port" value="$(var data_port)"/>
+    <param name="gnss_port" value="2380"/>
     <param name="cloud_min_angle" value="$(var cloud_min_angle)"/>
     <param name="cloud_max_angle" value="$(var cloud_max_angle)"/>
+    <param name="packet_mtu_size" value="1500"/>
     <param name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/>
+    <param name="setup_sensor" value="false"/>
+    <param name="ptp_profile" value="802.1as"/>
+    <param name="ptp_transport_type" value="L2"/>
+    <param name="ptp_switch_type" value="$NON_TSN"/>
+    <param name="ptp_domain" value="1"/>
+    <param name="retry_hw" value="false"/>
   </node>
 
 </launch>
diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py
index 6a2dffac..7b6ee0c2 100644
--- a/common_sensor_launch/launch/nebula_node_container.launch.py
+++ b/common_sensor_launch/launch/nebula_node_container.launch.py
@@ -128,39 +128,35 @@ def create_parameter_dict(*args):
         )
     )
 
-    # NOTE: Exclude the OT128 driver to outside the container
-    if sensor_model != "Pandar128E4X":
-        nodes.append(
-            ComposableNode(
-                package="nebula_ros",
-                plugin=sensor_make + "HwMonitorRosWrapper",
-                name=sensor_make.lower() + "_hw_monitor_ros_wrapper_node",
-                parameters=[
-                    {
-                        "sensor_model": sensor_model,
-                        **create_parameter_dict(
-                            "return_mode",
-                            "frame_id",
-                            "scan_phase",
-                            "sensor_ip",
-                            "host_ip",
-                            "data_port",
-                            "gnss_port",
-                            "packet_mtu_size",
-                            "rotation_speed",
-                            "cloud_min_angle",
-                            "cloud_max_angle",
-                            "diag_span",
-                            "dual_return_distance_threshold",
-                            "delay_monitor_ms",
-                        ),
-                    },
-                ],
-                extra_arguments=[
-                    {"use_intra_process_comms": LaunchConfiguration("use_intra_process")}
-                ],
-            )
+    nodes.append(
+        ComposableNode(
+            package="nebula_ros",
+            plugin=sensor_make + "HwMonitorRosWrapper",
+            name=sensor_make.lower() + "_hw_monitor_ros_wrapper_node",
+            parameters=[
+                {
+                    "sensor_model": sensor_model,
+                    **create_parameter_dict(
+                        "return_mode",
+                        "frame_id",
+                        "scan_phase",
+                        "sensor_ip",
+                        "host_ip",
+                        "data_port",
+                        "gnss_port",
+                        "packet_mtu_size",
+                        "rotation_speed",
+                        "cloud_min_angle",
+                        "cloud_max_angle",
+                        "diag_span",
+                        "dual_return_distance_threshold",
+                        "delay_monitor_ms",
+                    ),
+                },
+            ],
+            extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
         )
+    )
 
     cropbox_parameters = create_parameter_dict("input_frame", "output_frame")
     cropbox_parameters["negative"] = True