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fix: add blockage for xx1 #191

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merged 13 commits into from
Mar 19, 2024
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fix: velodyne launch
Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
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badai-nguyen committed Mar 15, 2024
commit 57612b62c4cfafe3f3e8b4c05ae3ec4af6847bf4
10 changes: 10 additions & 0 deletions common_sensor_launch/launch/velodyne_VLP16.launch.xml
Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,11 @@
<arg name="cloud_max_angle" default="360"/>
<arg name="vehicle_mirror_param_file"/>
<arg name="container_name" default="velodyne_node_container"/>
<arg name="vertical_bins" default="16"/>
<arg name="horizontal_ring_id" default="0"/>
<arg name="is_channel_order_top2down" default="false"/>
<arg name="horizontal_resolution" default="0.4"/>
<arg name="enable_blockage_diag" default="true"/>

<include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
<arg name="launch_driver" value="$(var launch_driver)"/>
Expand All @@ -34,6 +39,11 @@
<arg name="use_intra_process" value="true"/>
<arg name="use_multithread" value="false"/>
<arg name="container_name" value="$(var container_name)"/>
<arg name="vertical_bins" value="$(var vertical_bins)"/>
<arg name="horizontal_ring_id" value="$(var horizontal_ring_id)"/>
<arg name="is_channel_order_top2down" value="$(var is_channel_order_top2down)"/>
<arg name="horizontal_resolution" value="$(var horizontal_resolution)"/>
<arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
</include>

<!-- Velodyne Monitor -->
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10 changes: 10 additions & 0 deletions common_sensor_launch/launch/velodyne_VLP32C.launch.xml
Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,11 @@
<arg name="cloud_max_angle" default="360"/>
<arg name="vehicle_mirror_param_file"/>
<arg name="container_name" default="velodyne_node_container"/>
<arg name="vertical_bins" default="32"/>
<arg name="horizontal_ring_id" default="0"/>
<arg name="is_channel_order_top2down" default="false"/>
<arg name="horizontal_resolution" default="0.4"/>
<arg name="enable_blockage_diag" default="true"/>

<include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
<arg name="launch_driver" value="$(var launch_driver)"/>
Expand All @@ -34,6 +39,11 @@
<arg name="use_intra_process" value="false"/>
<arg name="use_multithread" value="false"/>
<arg name="container_name" value="$(var container_name)"/>
<arg name="vertical_bins" value="$(var vertical_bins)"/>
<arg name="horizontal_ring_id" value="$(var horizontal_ring_id)"/>
<arg name="is_channel_order_top2down" value="$(var is_channel_order_top2down)"/>
<arg name="horizontal_resolution" value="$(var horizontal_resolution)"/>
<arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
</include>

<!-- Velodyne Monitor -->
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10 changes: 10 additions & 0 deletions common_sensor_launch/launch/velodyne_VLS128.launch.xml
Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,11 @@
<arg name="cloud_max_angle" default="360"/>
<arg name="vehicle_mirror_param_file"/>
<arg name="container_name" default="velodyne_node_container"/>
<arg name="vertical_bins" default="128"/>
<arg name="horizontal_ring_id" default="64"/>
<arg name="is_channel_order_top2down" default="false"/>
<arg name="horizontal_resolution" default="0.4"/>
<arg name="enable_blockage_diag" default="false"/>

<include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
<arg name="launch_driver" value="$(var launch_driver)"/>
Expand All @@ -34,6 +39,11 @@
<arg name="use_intra_process" value="true"/>
<arg name="use_multithread" value="true"/>
<arg name="container_name" value="$(var container_name)"/>
<arg name="vertical_bins" value="$(var vertical_bins)"/>
<arg name="horizontal_ring_id" value="$(var horizontal_ring_id)"/>
<arg name="is_channel_order_top2down" value="$(var is_channel_order_top2down)"/>
<arg name="horizontal_resolution" value="$(var horizontal_resolution)"/>
<arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
</include>

<!-- Velodyne Monitor -->
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