From 97267d20a377d23f1a15c7d711f0c3a4318eff11 Mon Sep 17 00:00:00 2001
From: "tomoya.kimura" <tomoya.kimura@tier4.jp>
Date: Thu, 2 Mar 2023 15:03:05 +0900
Subject: [PATCH 1/3] feat: set max range of rear_lidar in xx1

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
---
 aip_xx1_launch/launch/lidar.launch.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/aip_xx1_launch/launch/lidar.launch.xml b/aip_xx1_launch/launch/lidar.launch.xml
index 3cca24c4..f209d743 100644
--- a/aip_xx1_launch/launch/lidar.launch.xml
+++ b/aip_xx1_launch/launch/lidar.launch.xml
@@ -52,7 +52,7 @@
     <group>
       <push-ros-namespace namespace="rear"/>
       <include file="$(find-pkg-share common_sensor_launch)/launch/velodyne_VLP16.launch.xml">
-        <arg name="max_range" value="15.0" />
+        <arg name="max_range" value="1.5" />
         <arg name="sensor_frame" value="velodyne_rear" />
         <arg name="device_ip" value="192.168.1.204"/>
         <arg name="port" value="2371"/>

From 6f84a82a0bab5ebf5f2ccbae53af2b1e58149c87 Mon Sep 17 00:00:00 2001
From: "tomoya.kimura" <tomoya.kimura@tier4.jp>
Date: Thu, 2 Mar 2023 15:13:35 +0900
Subject: [PATCH 2/3] feat: add concatenated target to rear lidar

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
---
 aip_xx1_launch/launch/pointcloud_preprocessor.launch.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
index 3e8ee1fe..b59c0a31 100644
--- a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
+++ b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
@@ -38,6 +38,7 @@ def launch_setup(context, *args, **kwargs):
                     "/sensing/lidar/top/outlier_filtered/pointcloud",
                     "/sensing/lidar/left/outlier_filtered/pointcloud",
                     "/sensing/lidar/right/outlier_filtered/pointcloud",
+                    "/sensing/lidar/rear/outlier_filtered/pointcloud",
                 ],
                 "output_frame": LaunchConfiguration("base_frame"),
             }

From 1e0e2ca7c5b32e5ffe8b4778b527dfa5050dde41 Mon Sep 17 00:00:00 2001
From: "tomoya.kimura" <tomoya.kimura@tier4.jp>
Date: Tue, 14 Mar 2023 13:50:08 +0900
Subject: [PATCH 3/3] feat: do not use left/right lidar

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
---
 aip_xx1_launch/launch/pointcloud_preprocessor.launch.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
index b59c0a31..2fbe717c 100644
--- a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
+++ b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
@@ -36,8 +36,8 @@ def launch_setup(context, *args, **kwargs):
             {
                 "input_topics": [
                     "/sensing/lidar/top/outlier_filtered/pointcloud",
-                    "/sensing/lidar/left/outlier_filtered/pointcloud",
-                    "/sensing/lidar/right/outlier_filtered/pointcloud",
+                    # "/sensing/lidar/left/outlier_filtered/pointcloud",
+                    # "/sensing/lidar/right/outlier_filtered/pointcloud",
                     "/sensing/lidar/rear/outlier_filtered/pointcloud",
                 ],
                 "output_frame": LaunchConfiguration("base_frame"),