From 606ec8981b27f54ab051d8c8e619d005beb39794 Mon Sep 17 00:00:00 2001
From: Yukihiro Saito <yukky.saito@gmail.com>
Date: Sat, 3 Feb 2024 22:19:58 +0900
Subject: [PATCH 01/41] update for xx1 gen2

Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>
---
 .../config/sensor_kit_calibration.yaml        | 181 ++++++++++--------
 .../config/sensors_calibration.yaml           |  79 +++++---
 aip_xx1_description/urdf/radar.xacro          |  31 ---
 aip_xx1_description/urdf/sensor_kit.xacro     | 130 ++++++++-----
 aip_xx1_description/urdf/sensors.xacro        | 105 +++++++---
 5 files changed, 312 insertions(+), 214 deletions(-)
 delete mode 100644 aip_xx1_description/urdf/radar.xacro

diff --git a/aip_xx1_description/config/sensor_kit_calibration.yaml b/aip_xx1_description/config/sensor_kit_calibration.yaml
index ab417b52..14c61651 100644
--- a/aip_xx1_description/config/sensor_kit_calibration.yaml
+++ b/aip_xx1_description/config/sensor_kit_calibration.yaml
@@ -1,92 +1,113 @@
 sensor_kit_base_link:
   camera0/camera_link:
-    x: 0.10731
-    y: 0.56343
-    z: -0.27697
-    roll: -0.025
-    pitch: 0.315
-    yaw: 1.035
+    x: 0.372 # Design Value
+    y: 0.0 # Design Value
+    z: -0.207 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 0.0 # Design Value
   camera1/camera_link:
-    x: -0.10731
-    y: -0.56343
-    z: -0.27697
-    roll: -0.025
-    pitch: 0.32
-    yaw: -2.12
+    x: 0.372 # Design Value
+    y: 0.045 # Design Value
+    z: -0.207 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 0.0 # Design Value
   camera2/camera_link:
-    x: 0.10731
-    y: -0.56343
-    z: -0.27697
-    roll: -0.00
-    pitch: 0.335
-    yaw: -1.04
+    x: 0.372 # Design Value
+    y: -0.045 # Design Value
+    z: -0.207 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 0.0 # Design Value
   camera3/camera_link:
-    x: -0.10731
-    y: 0.56343
-    z: -0.27697
-    roll: 0.0
-    pitch: 0.325
-    yaw: 2.0943951
+    x: 0.133 # Design Value
+    y: 0.498 # Design Value
+    z: -0.246 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 0.872665 # Design Value
   camera4/camera_link:
-    x: 0.07356
-    y: 0.0
-    z: -0.0525
-    roll: 0.0
-    pitch: -0.03
-    yaw: -0.005
+    x: 0.133 # Design Value
+    y: -0.498 # Design Value
+    z: -0.246 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: -0.872665 # Design Value
   camera5/camera_link:
-    x: -0.07356
-    y: 0.0
-    z: -0.0525
-    roll: 0.0
-    pitch: -0.01
-    yaw: 3.125
+    x: 0.095 # Design Value
+    y: 0.524 # Design Value
+    z: -0.246 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 1.0472 # Design Value
   camera6/camera_link:
-    x: 0.05
-    y: 0.0175
-    z: -0.1
-    roll: 0.0
-    pitch: 0.0
-    yaw: 0.0
+    x: 0.095 # Design Value
+    y: -0.524 # Design Value
+    z: -0.246 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: -1.0472 # Design Value
   camera7/camera_link:
-    x: 0.05
-    y: -0.0175
-    z: -0.1
-    roll: 0.0
-    pitch: 0.0
-    yaw: 0.0
-  velodyne_top_base_link:
-    x: 0.0
-    y: 0.0
-    z: 0.0
-    roll: 0.0
-    pitch: 0.0
-    yaw: 1.575
-  velodyne_left_base_link:
-    x: 0.0
-    y: 0.56362
-    z: -0.30555
-    roll: -0.02
-    pitch: 0.71
-    yaw: 1.575
-  velodyne_right_base_link:
-    x: 0.0
-    y: -0.56362
-    z: -0.30555
-    roll: -0.01
-    pitch: 0.71
-    yaw: -1.580
+    x: -0.345 # Design Value
+    y: 0.244 # Design Value
+    z: -0.174 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 2.70526 # Design Value
+  camera8/camera_link:
+    x: -0.345 # Design Value
+    y: -0.244 # Design Value
+    z: -0.174 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: -2.70526 # Design Value
+  camera9/camera_link:
+    x: -0.362 # Design Value
+    y: 0.202 # Design Value
+    z: -0.174 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 2.79253 # Design Value
+  camera10/camera_link:
+    x: -0.362 # Design Value
+    y: -0.202 # Design Value
+    z: -0.174 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: -2.79253 # Design Value
+  hesai_top_base_link:
+    x: 0.0 # Design Value
+    y: 0.0 # Design Value
+    z: 0.0 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: -0.349066 # Design Value
+  hesai_left_base_link:
+    x: 0.0 # Design Value
+    y: 0.564 # Design Value
+    z: -0.300 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.872665 # Design Value
+    yaw: 1.5708 # Design Value
+  hesai_right_base_link:
+    x: 0.0 # Design Value
+    y: -0.564 # Design Value
+    z: -0.300 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.872665 # Design Value
+    yaw: -1.5708 # Design Value
   gnss_link:
-    x: -0.1
-    y: 0.0
-    z: -0.2
-    roll: 0.0
-    pitch: 0.0
-    yaw: 0.0
+    x: -0.279 # Design Value
+    y: 0.0 # Design Value
+    z: -0.160 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 0.0 # Design Value
   tamagawa/imu_link:
-    x: 0.0
-    y: 0.0
-    z: 0.0
+    x: -0.129 # Design Value
+    y: 0.0 # Design Value
+    z: -0.160 # Design Value
     roll: 3.14159265359
-    pitch: 0.0
-    yaw: 3.14159265359
+    pitch: 0.0 # Design Value
+    yaw: 3.14159265359 # Design Value
diff --git a/aip_xx1_description/config/sensors_calibration.yaml b/aip_xx1_description/config/sensors_calibration.yaml
index e8c4b75e..4ae5a152 100644
--- a/aip_xx1_description/config/sensors_calibration.yaml
+++ b/aip_xx1_description/config/sensors_calibration.yaml
@@ -1,32 +1,25 @@
 base_link:
-  ars408_front_center:
-    x: 3.8
-    y: 0.0
-    z: 0.5
-    roll: 0.0
-    pitch: 0.0
-    yaw: 0.0
   sensor_kit_base_link:
     x: 0.9
     y: 0.0
     z: 2.0
-    roll: -0.001
-    pitch: 0.015
-    yaw: -0.0364
-  livox_front_right_base_link:
-    x: 3.290
-    y: -0.65485
-    z: 0.3216
     roll: 0.0
     pitch: 0.0
-    yaw: -0.872664444
-  livox_front_left_base_link:
-    x: 3.290
-    y: 0.65485
-    z: 0.3016
-    roll: -0.021
-    pitch: 0.05
-    yaw: 0.872664444
+    yaw: 0.0
+  hesai_front_right_base_link:
+    x: 3.373 # Design Value
+    y: -0.740 # Design Value
+    z: 0.5482
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: -0.872665 # Design Value
+  hesai_front_left_base_link:
+    x: 3.373 # Design Value
+    y: 0.740 # Design Value
+    z: 0.5482
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 0.872665 # Design Value
   velodyne_rear_base_link:
     x: -0.358
     y: 0.0
@@ -34,3 +27,45 @@ base_link:
     roll: -0.02
     pitch: 0.7281317
     yaw: 3.141592
+  ars548_front_center_base_link:
+    x: 3.520 # Design Value
+    y: 0.0 # Design Value
+    z: 0.6352
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 0.0 # Design Value
+  ars548_front_right_base_link:
+    x: 3.384 # Design Value
+    y: -0.7775 # Design Value
+    z: 0.410
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: -1.22173 # Design Value
+  ars548_front_left_base_link:
+    x: 3.384 # Design Value
+    y: 0.7775 # Design Value
+    z: 0.410
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 1.22173 # Design Value
+  ars548_back_center_base_link:
+    x: -0.858 # Design Value
+    y: 0.0 # Design Value
+    z: 0.520
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 3.141592 # Design Value
+  ars548_back_right_base_link:
+    x: -0.782 # Design Value
+    y: -0.761 # Design Value
+    z: 0.520
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: -2.0944 # Design Value
+  ars548_back_left_base_link:
+    x: -0.782 # Design Value
+    y: 0.761 # Design Value
+    z: 0.520
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 2.0944 # Design Value
diff --git a/aip_xx1_description/urdf/radar.xacro b/aip_xx1_description/urdf/radar.xacro
deleted file mode 100644
index 8b0f8d4b..00000000
--- a/aip_xx1_description/urdf/radar.xacro
+++ /dev/null
@@ -1,31 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:macro name="radar_macro" params="name parent x y z roll pitch yaw">
-    <xacro:property name="mass" value="0.01" />
-
-    <joint name="${name}_base_mount_joint" type="fixed">
-      <origin rpy="${roll} ${pitch} ${yaw}" xyz="${x} ${y} ${z}"/>
-      <parent link="${parent}"/>
-      <child  link="${name}"/>
-    </joint>
-
-    <link name="${name}">
-      <visual>
-        <geometry>
-          <box size="0.03 0.1 0.1"/>
-        </geometry>
-        <origin rpy="0 0 0" xyz="0 0 0"/>
-        <material name="black">
-          <color rgba="0.1 0.1 0.1 1.0"/>
-        </material>
-      </visual>
-      <inertial>
-        <origin rpy="0 0 0" xyz="0 0 0"/>
-        <mass value="${mass}"/>
-        <inertia ixx="${(0.03*0.03+0.03*0.03)*mass/12.0}" ixy="0.0" ixz="0.0"
-                 iyy="${(0.1*0.1+0.1*0.1)*mass/12.0}" iyz="0.0"
-                 izz="${(0.1*0.1+0.1*0.1)*mass/12.0}"/>
-      </inertial>
-    </link>
-  </xacro:macro>
-</robot>
diff --git a/aip_xx1_description/urdf/sensor_kit.xacro b/aip_xx1_description/urdf/sensor_kit.xacro
index ef36763f..647d70d7 100644
--- a/aip_xx1_description/urdf/sensor_kit.xacro
+++ b/aip_xx1_description/urdf/sensor_kit.xacro
@@ -1,9 +1,8 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
   <xacro:macro name="sensor_kit_macro" params="parent x y z roll pitch yaw">
-    <xacro:include filename="$(find velodyne_description)/urdf/HDL-32E.urdf.xacro"/>
+    <xacro:include filename="$(find pandar_description)/urdf/pandar_xt32.xacro"/>
     <xacro:include filename="$(find velodyne_description)/urdf/VLP-16.urdf.xacro"/>
-    <xacro:include filename="$(find vls_description)/urdf/VLS-128.urdf.xacro"/>
     <xacro:include filename="$(find camera_description)/urdf/monocular_camera.xacro"/>
     <xacro:include filename="$(find imu_description)/urdf/imu.xacro"/>
 
@@ -25,57 +24,37 @@
     <!-- sensor -->
     <xacro:property name="calibration" value="${xacro.load_yaml('$(arg config_dir)/sensor_kit_calibration.yaml')}"/>
     <!-- lidar -->
-    <xacro:VLS-128
-      parent="sensor_kit_base_link"
-      name="velodyne_top"
-      topic="/points_raw"
-      hz="10"
-      samples="220"
-      gpu="$(arg gpu)"
-    >
-      <origin
-        xyz="${calibration['sensor_kit_base_link']['velodyne_top_base_link']['x']}
-             ${calibration['sensor_kit_base_link']['velodyne_top_base_link']['y']}
-             ${calibration['sensor_kit_base_link']['velodyne_top_base_link']['z']}"
-        rpy="${calibration['sensor_kit_base_link']['velodyne_top_base_link']['roll']}
-             ${calibration['sensor_kit_base_link']['velodyne_top_base_link']['pitch']}
-             ${calibration['sensor_kit_base_link']['velodyne_top_base_link']['yaw']}"
-      />
-    </xacro:VLS-128>
-    <xacro:VLP-16
-      parent="sensor_kit_base_link"
-      name="velodyne_left"
-      topic="/points_raw"
-      hz="10"
-      samples="220"
-      gpu="$(arg gpu)"
-    >
-      <origin
-        xyz="${calibration['sensor_kit_base_link']['velodyne_left_base_link']['x']}
-             ${calibration['sensor_kit_base_link']['velodyne_left_base_link']['y']}
-             ${calibration['sensor_kit_base_link']['velodyne_left_base_link']['z']}"
-        rpy="${calibration['sensor_kit_base_link']['velodyne_left_base_link']['roll']}
-             ${calibration['sensor_kit_base_link']['velodyne_left_base_link']['pitch']}
-             ${calibration['sensor_kit_base_link']['velodyne_left_base_link']['yaw']}"
-      />
-    </xacro:VLP-16>
-    <xacro:VLP-16
-      parent="sensor_kit_base_link"
-      name="velodyne_right"
-      topic="/points_raw"
-      hz="10"
-      samples="220"
-      gpu="$(arg gpu)"
-    >
-      <origin
-        xyz="${calibration['sensor_kit_base_link']['velodyne_right_base_link']['x']}
-             ${calibration['sensor_kit_base_link']['velodyne_right_base_link']['y']}
-             ${calibration['sensor_kit_base_link']['velodyne_right_base_link']['z']}"
-        rpy="${calibration['sensor_kit_base_link']['velodyne_right_base_link']['roll']}
-             ${calibration['sensor_kit_base_link']['velodyne_right_base_link']['pitch']}
-             ${calibration['sensor_kit_base_link']['velodyne_right_base_link']['yaw']}"
-      />
-    </xacro:VLP-16>
+    <xacro:PandarXT-32
+      name="hesai_top"
+      parent="sensor_kit_base_link"
+      x="${calibration['sensor_kit_base_link']['hesai_top_base_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['hesai_top_base_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['hesai_top_base_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['hesai_top_base_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['hesai_top_base_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['hesai_top_base_link']['yaw']}"
+    />
+    <xacro:PandarXT-32
+      name="hesai_right"
+      parent="sensor_kit_base_link"
+      x="${calibration['sensor_kit_base_link']['hesai_right_base_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['hesai_right_base_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['hesai_right_base_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['hesai_right_base_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['hesai_right_base_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['hesai_right_base_link']['yaw']}"
+    />
+    <xacro:PandarXT-32
+      name="hesai_left"
+      parent="sensor_kit_base_link"
+      x="${calibration['sensor_kit_base_link']['hesai_left_base_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['hesai_left_base_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['hesai_left_base_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['hesai_left_base_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['hesai_left_base_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['hesai_left_base_link']['yaw']}"
+    />
+
     <!-- camera -->
     <xacro:monocular_camera_macro
       name="camera0/camera"
@@ -197,6 +176,51 @@
       height="400"
       fov="1.3"
     />
+    <xacro:monocular_camera_macro
+      name="camera8/camera"
+      parent="sensor_kit_base_link"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['camera8/camera_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['camera8/camera_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['camera8/camera_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['camera8/camera_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['camera8/camera_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['camera8/camera_link']['yaw']}"
+      fps="30"
+      width="800"
+      height="400"
+      fov="1.3"
+    />
+    <xacro:monocular_camera_macro
+      name="camera9/camera"
+      parent="sensor_kit_base_link"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['camera9/camera_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['camera9/camera_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['camera9/camera_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['camera9/camera_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['camera9/camera_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['camera9/camera_link']['yaw']}"
+      fps="30"
+      width="800"
+      height="400"
+      fov="1.3"
+    />
+    <xacro:monocular_camera_macro
+      name="camera10/camera"
+      parent="sensor_kit_base_link"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['camera10/camera_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['camera10/camera_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['camera10/camera_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['camera10/camera_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['camera10/camera_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['camera10/camera_link']['yaw']}"
+      fps="30"
+      width="800"
+      height="400"
+      fov="1.3"
+    />
     <!-- gnss -->
     <xacro:imu_macro
       name="gnss"
diff --git a/aip_xx1_description/urdf/sensors.xacro b/aip_xx1_description/urdf/sensors.xacro
index 0484bdc3..4bff759f 100644
--- a/aip_xx1_description/urdf/sensors.xacro
+++ b/aip_xx1_description/urdf/sensors.xacro
@@ -15,7 +15,7 @@
     pitch="${calibration['base_link']['sensor_kit_base_link']['pitch']}"
     yaw="${calibration['base_link']['sensor_kit_base_link']['yaw']}"
   />
-  <!-- embedded sensors -->
+  <!-- embedded lidar sensors -->
   <xacro:include filename="$(find velodyne_description)/urdf/VLP-16.urdf.xacro"/>
   <xacro:VLP-16
     parent="base_link"
@@ -34,39 +34,88 @@
            ${calibration['base_link']['velodyne_rear_base_link']['yaw']}"
     />
   </xacro:VLP-16>
-  <xacro:include filename="$(find livox_description)/urdf/livox_horizon.xacro"/>
-  <xacro:livox_horizon_macro
-    name="livox_front_left"
+  <xacro:include filename="$(find pandar_description)/urdf/pandar_xt32.xacro"/>
+  <xacro:PandarXT-32
+    name="hesai_front_left"
     parent="base_link"
-    x="${calibration['base_link']['livox_front_left_base_link']['x']}"
-    y="${calibration['base_link']['livox_front_left_base_link']['y']}"
-    z="${calibration['base_link']['livox_front_left_base_link']['z']}"
-    roll="${calibration['base_link']['livox_front_left_base_link']['roll']}"
-    pitch="${calibration['base_link']['livox_front_left_base_link']['pitch']}"
-    yaw="${calibration['base_link']['livox_front_left_base_link']['yaw']}"
+    x="${calibration['base_link']['hesai_front_left_base_link']['x']}"
+    y="${calibration['base_link']['hesai_front_left_base_link']['y']}"
+    z="${calibration['base_link']['hesai_front_left_base_link']['z']}"
+    roll="${calibration['base_link']['hesai_front_left_base_link']['roll']}"
+    pitch="${calibration['base_link']['hesai_front_left_base_link']['pitch']}"
+    yaw="${calibration['base_link']['hesai_front_left_base_link']['yaw']}"
   />
-  <xacro:livox_horizon_macro
-    name="livox_front_right"
+  <xacro:PandarXT-32
+    name="hesai_front_right"
     parent="base_link"
-    x="${calibration['base_link']['livox_front_right_base_link']['x']}"
-    y="${calibration['base_link']['livox_front_right_base_link']['y']}"
-    z="${calibration['base_link']['livox_front_right_base_link']['z']}"
-    roll="${calibration['base_link']['livox_front_right_base_link']['roll']}"
-    pitch="${calibration['base_link']['livox_front_right_base_link']['pitch']}"
-    yaw="${calibration['base_link']['livox_front_right_base_link']['yaw']}"
+    x="${calibration['base_link']['hesai_front_right_base_link']['x']}"
+    y="${calibration['base_link']['hesai_front_right_base_link']['y']}"
+    z="${calibration['base_link']['hesai_front_right_base_link']['z']}"
+    roll="${calibration['base_link']['hesai_front_right_base_link']['roll']}"
+    pitch="${calibration['base_link']['hesai_front_right_base_link']['pitch']}"
+    yaw="${calibration['base_link']['hesai_front_right_base_link']['yaw']}"
   />
 
-  <!-- radar -->
-  <xacro:include filename="$(find aip_xx1_description)/urdf/radar.xacro"/>
+  <!-- embedded radar sensors -->
+  <xacro:include filename="$(find radar_description)/urdf/radar.xacro"/>
   <xacro:radar_macro
-    name="ars408_front_center"
+    name="ars548_front_center"
     parent="base_link"
-    x="${calibration['base_link']['ars408_front_center']['x']}"
-    y="${calibration['base_link']['ars408_front_center']['y']}"
-    z="${calibration['base_link']['ars408_front_center']['z']}"
-    roll="${calibration['base_link']['ars408_front_center']['roll']}"
-    pitch="${calibration['base_link']['ars408_front_center']['pitch']}"
-    yaw="${calibration['base_link']['ars408_front_center']['yaw']}"
+    x="${calibration['base_link']['ars548_front_center_base_link']['x']}"
+    y="${calibration['base_link']['ars548_front_center_base_link']['y']}"
+    z="${calibration['base_link']['ars548_front_center_base_link']['z']}"
+    roll="${calibration['base_link']['ars548_front_center_base_link']['roll']}"
+    pitch="${calibration['base_link']['ars548_front_center_base_link']['pitch']}"
+    yaw="${calibration['base_link']['ars548_front_center_base_link']['yaw']}"
+  />
+  <xacro:radar_macro
+    name="ars548_front_right"
+    parent="base_link"
+    x="${calibration['base_link']['ars548_front_right_base_link']['x']}"
+    y="${calibration['base_link']['ars548_front_right_base_link']['y']}"
+    z="${calibration['base_link']['ars548_front_right_base_link']['z']}"
+    roll="${calibration['base_link']['ars548_front_right_base_link']['roll']}"
+    pitch="${calibration['base_link']['ars548_front_right_base_link']['pitch']}"
+    yaw="${calibration['base_link']['ars548_front_right_base_link']['yaw']}"
+  />
+  <xacro:radar_macro
+    name="ars548_front_left"
+    parent="base_link"
+    x="${calibration['base_link']['ars548_front_left_base_link']['x']}"
+    y="${calibration['base_link']['ars548_front_left_base_link']['y']}"
+    z="${calibration['base_link']['ars548_front_left_base_link']['z']}"
+    roll="${calibration['base_link']['ars548_front_left_base_link']['roll']}"
+    pitch="${calibration['base_link']['ars548_front_left_base_link']['pitch']}"
+    yaw="${calibration['base_link']['ars548_front_left_base_link']['yaw']}"
+  />
+  <xacro:radar_macro
+    name="ars548_back_center"
+    parent="base_link"
+    x="${calibration['base_link']['ars548_back_center_base_link']['x']}"
+    y="${calibration['base_link']['ars548_back_center_base_link']['y']}"
+    z="${calibration['base_link']['ars548_back_center_base_link']['z']}"
+    roll="${calibration['base_link']['ars548_back_center_base_link']['roll']}"
+    pitch="${calibration['base_link']['ars548_back_center_base_link']['pitch']}"
+    yaw="${calibration['base_link']['ars548_back_center_base_link']['yaw']}"
+  />
+  <xacro:radar_macro
+    name="ars548_back_right"
+    parent="base_link"
+    x="${calibration['base_link']['ars548_back_right_base_link']['x']}"
+    y="${calibration['base_link']['ars548_back_right_base_link']['y']}"
+    z="${calibration['base_link']['ars548_back_right_base_link']['z']}"
+    roll="${calibration['base_link']['ars548_back_right_base_link']['roll']}"
+    pitch="${calibration['base_link']['ars548_back_right_base_link']['pitch']}"
+    yaw="${calibration['base_link']['ars548_back_right_base_link']['yaw']}"
+  />
+  <xacro:radar_macro
+    name="ars548_back_left"
+    parent="base_link"
+    x="${calibration['base_link']['ars548_back_left_base_link']['x']}"
+    y="${calibration['base_link']['ars548_back_left_base_link']['y']}"
+    z="${calibration['base_link']['ars548_back_left_base_link']['z']}"
+    roll="${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>

From 33adae636a6b330212b77bf9b48f66fe3c980a3b Mon Sep 17 00:00:00 2001
From: Yuki Takagi <yuki.takagi@tier4.jp>
Date: Thu, 15 Feb 2024 13:59:06 +0900
Subject: [PATCH 02/41] set network configs

Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>
---
 aip_xx1_launch/launch/lidar.launch.xml | 51 ++++++++++++--------------
 1 file changed, 24 insertions(+), 27 deletions(-)

diff --git a/aip_xx1_launch/launch/lidar.launch.xml b/aip_xx1_launch/launch/lidar.launch.xml
index 0adfe218..26845221 100644
--- a/aip_xx1_launch/launch/lidar.launch.xml
+++ b/aip_xx1_launch/launch/lidar.launch.xml
@@ -27,11 +27,11 @@
     </group>
 
     <group>
-      <push-ros-namespace namespace="left"/>
-      <include file="$(find-pkg-share common_sensor_launch)/launch/velodyne_VLP16.launch.xml">
+      <push-ros-namespace namespace="front_left"/>
+      <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launchxml">
         <arg name="max_range" value="5.0"/>
         <arg name="sensor_frame" value="velodyne_left"/>
-        <arg name="sensor_ip" value="192.168.1.202"/>
+        <arg name="sensor_ip" value="192.168.2.21"/>
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2369"/>
         <arg name="scan_phase" value="180.0"/>
@@ -44,11 +44,11 @@
     </group>
 
     <group>
-      <push-ros-namespace namespace="right"/>
-      <include file="$(find-pkg-share common_sensor_launch)/launch/velodyne_VLP16.launch.xml">
+      <push-ros-namespace namespace="front_right"/>
+      <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launch.xml">
         <arg name="max_range" value="5.0"/>
         <arg name="sensor_frame" value="velodyne_right"/>
-        <arg name="sensor_ip" value="192.168.1.203"/>
+        <arg name="sensor_ip" value="192.168.2.22"/>
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2370"/>
         <arg name="scan_phase" value="180.0"/>
@@ -61,11 +61,11 @@
     </group>
 
     <group>
-      <push-ros-namespace namespace="rear"/>
-      <include file="$(find-pkg-share common_sensor_launch)/launch/velodyne_VLP16.launch.xml">
-        <arg name="max_range" value="1.5"/>
-        <arg name="sensor_frame" value="velodyne_rear"/>
-        <arg name="sensor_ip" value="192.168.1.204"/>
+      <push-ros-namespace namespace="side_left"/>
+      <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launchxml">
+        <arg name="max_range" value="5.0"/>
+        <arg name="sensor_frame" value="velodyne_left"/>
+        <arg name="sensor_ip" value="192.168.2.23"/>
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2371"/>
         <arg name="scan_phase" value="180.0"/>
@@ -77,25 +77,22 @@
       </include>
     </group>
 
-    <!-- <group>
-      <push-ros-namespace namespace="front_left"/>
-      <include file="$(find-pkg-share common_sensor_launch)/launch/livox_horizon.launch.py">
-        <arg name="sensor_frame" value="livox_front_left" />
-        <arg name="bd_code_param_path" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_xx1/livox_front_left_bd_code.param.yaml" />
-        <arg name="launch_driver" value="$(var launch_driver)" />
-        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
-      </include>
-    </group>
-
     <group>
       <push-ros-namespace namespace="front_right"/>
-      <include file="$(find-pkg-share common_sensor_launch)/launch/livox_horizon.launch.py">
-        <arg name="sensor_frame" value="livox_front_right" />
-        <arg name="bd_code_param_path" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_xx1/livox_front_right_bd_code.param.yaml" />
-        <arg name="launch_driver" value="$(var launch_driver)" />
-        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
+      <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launch.xml">
+        <arg name="max_range" value="5.0"/>
+        <arg name="sensor_frame" value="velodyne_right"/>
+        <arg name="sensor_ip" value="192.168.2.24"/>
+        <arg name="host_ip" value="$(var host_ip)"/>
+        <arg name="data_port" value="2372"/>
+        <arg name="scan_phase" value="180.0"/>
+        <arg name="cloud_min_angle" value="300"/>
+        <arg name="cloud_max_angle" value="60"/>
+        <arg name="launch_driver" value="$(var launch_driver)"/>
+        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
+        <arg name="container_name" value="pointcloud_container"/>
       </include>
-    </group> -->
+    </group>
 
     <include file="$(find-pkg-share aip_xx1_launch)/launch/pointcloud_preprocessor.launch.py">
       <arg name="base_frame" value="base_link"/>

From 845912cd1b044f61ded463140eb346d15c5ee779 Mon Sep 17 00:00:00 2001
From: Yuki Takagi <yuki.takagi@tier4.jp>
Date: Thu, 15 Feb 2024 14:17:09 +0900
Subject: [PATCH 03/41] use angle param add OT128 launch

Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>
---
 common_sensor_launch/launch/hesai_XT32.launch.xml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/common_sensor_launch/launch/hesai_XT32.launch.xml b/common_sensor_launch/launch/hesai_XT32.launch.xml
index 56587f72..c47f05fd 100644
--- a/common_sensor_launch/launch/hesai_XT32.launch.xml
+++ b/common_sensor_launch/launch/hesai_XT32.launch.xml
@@ -25,8 +25,8 @@
     <arg name="host_ip" value="$(var host_ip)"/>
     <arg name="data_port" value="$(var data_port)"/>
     <arg name="scan_phase" value="$(var scan_phase)"/>
-    <arg name="cloud_min_angle" value="0"/>
-    <arg name="cloud_max_angle" value="360"/>
+    <arg name="cloud_min_angle" value="$(var cloud_min_angle)"/>
+    <arg name="cloud_max_angle" value="$(var cloud_max_angle)"/>
     <arg name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/>
     <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
     <arg name="use_intra_process" value="true"/>

From fd65737cc20e2a7398343dc2a31d6ce6ecb1911b Mon Sep 17 00:00:00 2001
From: Yuki Takagi <yuki.takagi@tier4.jp>
Date: Thu, 15 Feb 2024 14:32:29 +0900
Subject: [PATCH 04/41] set lidar horizontal FOV angle

Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>
---
 aip_xx1_launch/launch/lidar.launch.xml | 18 +++++++++---------
 1 file changed, 9 insertions(+), 9 deletions(-)

diff --git a/aip_xx1_launch/launch/lidar.launch.xml b/aip_xx1_launch/launch/lidar.launch.xml
index 26845221..89acee3a 100644
--- a/aip_xx1_launch/launch/lidar.launch.xml
+++ b/aip_xx1_launch/launch/lidar.launch.xml
@@ -35,8 +35,8 @@
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2369"/>
         <arg name="scan_phase" value="180.0"/>
-        <arg name="cloud_min_angle" value="300"/>
-        <arg name="cloud_max_angle" value="60"/>
+        <arg name="cloud_min_angle" value="50"/>
+        <arg name="cloud_max_angle" value="320"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="pointcloud_container"/>
@@ -52,8 +52,8 @@
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2370"/>
         <arg name="scan_phase" value="180.0"/>
-        <arg name="cloud_min_angle" value="300"/>
-        <arg name="cloud_max_angle" value="60"/>
+        <arg name="cloud_min_angle" value="40"/>
+        <arg name="cloud_max_angle" value="310"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="pointcloud_container"/>
@@ -69,8 +69,8 @@
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2371"/>
         <arg name="scan_phase" value="180.0"/>
-        <arg name="cloud_min_angle" value="300"/>
-        <arg name="cloud_max_angle" value="60"/>
+        <arg name="cloud_min_angle" value="90"/>
+        <arg name="cloud_max_angle" value="270"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="pointcloud_container"/>
@@ -78,7 +78,7 @@
     </group>
 
     <group>
-      <push-ros-namespace namespace="front_right"/>
+      <push-ros-namespace namespace="side_right"/>
       <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launch.xml">
         <arg name="max_range" value="5.0"/>
         <arg name="sensor_frame" value="velodyne_right"/>
@@ -86,8 +86,8 @@
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2372"/>
         <arg name="scan_phase" value="180.0"/>
-        <arg name="cloud_min_angle" value="300"/>
-        <arg name="cloud_max_angle" value="60"/>
+        <arg name="cloud_min_angle" value="90"/>
+        <arg name="cloud_max_angle" value="270"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="pointcloud_container"/>

From 79efd42229c0037a940f25756ee65ce12274ac5d Mon Sep 17 00:00:00 2001
From: Yuki Takagi <yuki.takagi@tier4.jp>
Date: Thu, 15 Feb 2024 15:05:04 +0900
Subject: [PATCH 05/41] update settings

Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>
---
 .../config/sensors_calibration.yaml           | 14 ++++-----
 aip_xx1_launch/launch/lidar.launch.xml        | 30 +++++++++----------
 2 files changed, 22 insertions(+), 22 deletions(-)

diff --git a/aip_xx1_description/config/sensors_calibration.yaml b/aip_xx1_description/config/sensors_calibration.yaml
index 4ae5a152..95a93435 100644
--- a/aip_xx1_description/config/sensors_calibration.yaml
+++ b/aip_xx1_description/config/sensors_calibration.yaml
@@ -6,21 +6,21 @@ base_link:
     roll: 0.0
     pitch: 0.0
     yaw: 0.0
-  hesai_front_right_base_link:
+  hesai_front_left_base_link:
     x: 3.373 # Design Value
-    y: -0.740 # Design Value
+    y: 0.740 # Design Value
     z: 0.5482
     roll: 0.0 # Design Value
     pitch: 0.0 # Design Value
-    yaw: -0.872665 # Design Value
-  hesai_front_left_base_link:
+    yaw: 0.872665 # Design Value
+  hesai_front_right_base_link:
     x: 3.373 # Design Value
-    y: 0.740 # Design Value
+    y: -0.740 # Design Value
     z: 0.5482
     roll: 0.0 # Design Value
     pitch: 0.0 # Design Value
-    yaw: 0.872665 # Design Value
-  velodyne_rear_base_link:
+    yaw: -0.872665 # Design Value
+  velodyne_rear_base_link: #unused
     x: -0.358
     y: 0.0
     z: 1.631
diff --git a/aip_xx1_launch/launch/lidar.launch.xml b/aip_xx1_launch/launch/lidar.launch.xml
index 89acee3a..be1772f8 100644
--- a/aip_xx1_launch/launch/lidar.launch.xml
+++ b/aip_xx1_launch/launch/lidar.launch.xml
@@ -14,12 +14,12 @@
     <group>
       <push-ros-namespace namespace="top"/>
       <include file="$(find-pkg-share common_sensor_launch)/launch/velodyne_VLS128.launch.xml">
-        <arg name="max_range" value="250.0"/>
-        <arg name="sensor_frame" value="velodyne_top"/>
+        <!-- <arg name="max_range" value="250.0"/> -->
+        <arg name="sensor_frame" value="hesai_top"/>
         <arg name="sensor_ip" value="192.168.1.201"/>
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2368"/>
-        <arg name="scan_phase" value="300.0"/>
+        <arg name="scan_phase" value="160.0"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="pointcloud_container"/>
@@ -29,12 +29,12 @@
     <group>
       <push-ros-namespace namespace="front_left"/>
       <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launchxml">
-        <arg name="max_range" value="5.0"/>
-        <arg name="sensor_frame" value="velodyne_left"/>
+        <!-- <arg name="max_range" value="5.0"/> -->
+        <arg name="sensor_frame" value="hesai_front_left"/>
         <arg name="sensor_ip" value="192.168.2.21"/>
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2369"/>
-        <arg name="scan_phase" value="180.0"/>
+        <arg name="scan_phase" value="230.0"/>
         <arg name="cloud_min_angle" value="50"/>
         <arg name="cloud_max_angle" value="320"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
@@ -46,12 +46,12 @@
     <group>
       <push-ros-namespace namespace="front_right"/>
       <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launch.xml">
-        <arg name="max_range" value="5.0"/>
-        <arg name="sensor_frame" value="velodyne_right"/>
+        <!-- <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="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2370"/>
-        <arg name="scan_phase" value="180.0"/>
+        <arg name="scan_phase" value="130.0"/>
         <arg name="cloud_min_angle" value="40"/>
         <arg name="cloud_max_angle" value="310"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
@@ -63,12 +63,12 @@
     <group>
       <push-ros-namespace namespace="side_left"/>
       <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launchxml">
-        <arg name="max_range" value="5.0"/>
-        <arg name="sensor_frame" value="velodyne_left"/>
+        <!-- <arg name="max_range" value="5.0"/> -->
+        <arg name="sensor_frame" value="hesai_left"/>
         <arg name="sensor_ip" value="192.168.2.23"/>
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2371"/>
-        <arg name="scan_phase" value="180.0"/>
+        <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="$(var launch_driver)"/>
@@ -80,12 +80,12 @@
     <group>
       <push-ros-namespace namespace="side_right"/>
       <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launch.xml">
-        <arg name="max_range" value="5.0"/>
-        <arg name="sensor_frame" value="velodyne_right"/>
+        <!-- <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="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2372"/>
-        <arg name="scan_phase" value="180.0"/>
+        <arg name="scan_phase" value="90.0"/>
         <arg name="cloud_min_angle" value="90"/>
         <arg name="cloud_max_angle" value="270"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>

From 06c054790935202f45e3928a73110b2b8953530d Mon Sep 17 00:00:00 2001
From: Yuki Takagi <yuki.takagi@tier4.jp>
Date: Thu, 15 Feb 2024 15:21:00 +0900
Subject: [PATCH 06/41] update

Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>
---
 aip_xx1_launch/launch/lidar.launch.xml | 9 ++++-----
 1 file changed, 4 insertions(+), 5 deletions(-)

diff --git a/aip_xx1_launch/launch/lidar.launch.xml b/aip_xx1_launch/launch/lidar.launch.xml
index be1772f8..8f8b111a 100644
--- a/aip_xx1_launch/launch/lidar.launch.xml
+++ b/aip_xx1_launch/launch/lidar.launch.xml
@@ -14,7 +14,6 @@
     <group>
       <push-ros-namespace namespace="top"/>
       <include file="$(find-pkg-share common_sensor_launch)/launch/velodyne_VLS128.launch.xml">
-        <!-- <arg name="max_range" value="250.0"/> -->
         <arg name="sensor_frame" value="hesai_top"/>
         <arg name="sensor_ip" value="192.168.1.201"/>
         <arg name="host_ip" value="$(var host_ip)"/>
@@ -29,7 +28,7 @@
     <group>
       <push-ros-namespace namespace="front_left"/>
       <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launchxml">
-        <!-- <arg name="max_range" value="5.0"/> -->
+        <arg name="max_range" value="5.0"/>
         <arg name="sensor_frame" value="hesai_front_left"/>
         <arg name="sensor_ip" value="192.168.2.21"/>
         <arg name="host_ip" value="$(var host_ip)"/>
@@ -46,7 +45,7 @@
     <group>
       <push-ros-namespace namespace="front_right"/>
       <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launch.xml">
-        <!-- <arg name="max_range" value="5.0"/> -->
+        <arg name="max_range" value="5.0"/>
         <arg name="sensor_frame" value="hesai_front_right"/>
         <arg name="sensor_ip" value="192.168.2.22"/>
         <arg name="host_ip" value="$(var host_ip)"/>
@@ -63,7 +62,7 @@
     <group>
       <push-ros-namespace namespace="side_left"/>
       <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launchxml">
-        <!-- <arg name="max_range" value="5.0"/> -->
+        <arg name="max_range" value="5.0"/>
         <arg name="sensor_frame" value="hesai_left"/>
         <arg name="sensor_ip" value="192.168.2.23"/>
         <arg name="host_ip" value="$(var host_ip)"/>
@@ -80,7 +79,7 @@
     <group>
       <push-ros-namespace namespace="side_right"/>
       <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launch.xml">
-        <!-- <arg name="max_range" value="5.0"/> -->
+        <arg name="max_range" value="5.0"/>
         <arg name="sensor_frame" value="hesai_right"/>
         <arg name="sensor_ip" value="192.168.2.24"/>
         <arg name="host_ip" value="$(var host_ip)"/>

From 2e0edd280fca2932374f6904745151d12736f382 Mon Sep 17 00:00:00 2001
From: Yuki Takagi <yuki.takagi@tier4.jp>
Date: Thu, 15 Feb 2024 17:18:28 +0900
Subject: [PATCH 07/41] add OT128 launch

Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>
---
 .../launch/hesai_OT128.launch.xml             | 36 +++++++++++++++++++
 1 file changed, 36 insertions(+)
 create mode 100644 common_sensor_launch/launch/hesai_OT128.launch.xml

diff --git a/common_sensor_launch/launch/hesai_OT128.launch.xml b/common_sensor_launch/launch/hesai_OT128.launch.xml
new file mode 100644
index 00000000..492b56f3
--- /dev/null
+++ b/common_sensor_launch/launch/hesai_OT128.launch.xml
@@ -0,0 +1,36 @@
+<launch>
+
+  <!-- Params -->
+  <arg name="launch_driver" default="true"/>
+
+  <arg name="model" default="Pandar128E4X"/>
+  <arg name="sensor_frame" default="pandar"/>
+  <arg name="return_mode" default="Strongest"/>
+  <arg name="sensor_ip" default="192.168.1.201"/>
+  <arg name="host_ip" default="255.255.255.255"/>
+  <arg name="data_port" default="2368"/>
+  <arg name="scan_phase" default="0.0"/>
+  <arg name="cloud_min_angle" default="0"/>
+  <arg name="cloud_max_angle" default="360"/>
+  <arg name="dual_return_distance_threshold" default="0.1"/>
+  <arg name="vehicle_mirror_param_file"/>
+  <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="sensor_model" value="$(var model)"/>
+    <arg name="return_mode" value="$(var return_mode)"/>
+    <arg name="frame_id" value="$(var sensor_frame)"/>
+    <arg name="sensor_ip" value="$(var sensor_ip)"/>
+    <arg name="host_ip" value="$(var host_ip)"/>
+    <arg name="data_port" value="$(var data_port)"/>
+    <arg name="scan_phase" value="$(var scan_phase)"/>
+    <arg name="cloud_min_angle" value="$(var cloud_min_angle)"/>
+    <arg name="cloud_max_angle" value="$(var cloud_max_angle)"/>
+    <arg name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/>
+    <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
+    <arg name="use_intra_process" value="true"/>
+    <arg name="use_multithread" value="true"/>
+    <arg name="container_name" value="$(var container_name)"/>
+  </include>
+</launch>

From 106edb705f69f3b2584ebec810ffe0db3a73d624 Mon Sep 17 00:00:00 2001
From: "yuki.takagi@car_8" <yuki.takagi@tier4.jp>
Date: Thu, 22 Feb 2024 17:45:31 +0900
Subject: [PATCH 08/41] add ptp param

Signed-off-by: yuki.takagi@car_8 <yuki.takagi@tier4.jp>
---
 common_sensor_launch/launch/hesai_OT128.launch.xml          | 2 ++
 common_sensor_launch/launch/nebula_node_container.launch.py | 5 +++++
 2 files changed, 7 insertions(+)

diff --git a/common_sensor_launch/launch/hesai_OT128.launch.xml b/common_sensor_launch/launch/hesai_OT128.launch.xml
index 492b56f3..ccfaced0 100644
--- a/common_sensor_launch/launch/hesai_OT128.launch.xml
+++ b/common_sensor_launch/launch/hesai_OT128.launch.xml
@@ -32,5 +32,7 @@
     <arg name="use_intra_process" value="true"/>
     <arg name="use_multithread" value="true"/>
     <arg name="container_name" value="$(var container_name)"/>
+    <arg name="ptp_profile" value="802.1as"/>
+    <arg name="ptp_transport_type" value="L2"/>
   </include>
 </launch>
diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py
index c14c1390..f4054af4 100644
--- a/common_sensor_launch/launch/nebula_node_container.launch.py
+++ b/common_sensor_launch/launch/nebula_node_container.launch.py
@@ -234,6 +234,8 @@ def create_parameter_dict(*args):
                     "packet_mtu_size",
                     "dual_return_distance_threshold",
                     "setup_sensor",
+                    "ptp_profile",
+                    "ptp_transport_type",
                 ),
             }
         ],
@@ -283,6 +285,9 @@ def add_launch_arg(name: str, default_value=None, description=None):
     add_launch_arg("use_multithread", "False", "use multithread")
     add_launch_arg("use_intra_process", "False", "use ROS 2 component container communication")
     add_launch_arg("container_name", "nebula_node_container")
+    add_launch_arg("ptp_profile", "1588v2")
+    add_launch_arg("ptp_transport_type", "L2")
+
 
     set_container_executable = SetLaunchConfiguration(
         "container_executable",

From dec266855ea7b653579e85da2042a18c896748fe Mon Sep 17 00:00:00 2001
From: "yuki.takagi@car_8" <yuki.takagi@tier4.jp>
Date: Wed, 28 Feb 2024 13:21:18 +0900
Subject: [PATCH 09/41] complete to write lidar settings

Signed-off-by: yuki.takagi@car_8 <yuki.takagi@tier4.jp>
---
 .../config/sensors_calibration.yaml           | 14 +++++-----
 aip_xx1_description/urdf/sensors.xacro        |  8 +++---
 aip_xx1_launch/launch/lidar.launch.xml        | 26 +++++++++----------
 aip_xx1_launch/launch/sensing.launch.xml      | 12 ++++-----
 .../launch/hesai_XT32.launch.xml              |  2 ++
 5 files changed, 32 insertions(+), 30 deletions(-)

diff --git a/aip_xx1_description/config/sensors_calibration.yaml b/aip_xx1_description/config/sensors_calibration.yaml
index 95a93435..f55dad76 100644
--- 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
index 4bff759f..4ab453ba 100644
--- 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
index 8f8b111a..1fd2efb8 100644
--- 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
index ba6b935c..db7c3dfb 100644
--- 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="$(find-pkg-share vehicle_velocity_converter)/launch/vehicle_velocity_converter.launch.xml">
diff --git a/common_sensor_launch/launch/hesai_XT32.launch.xml b/common_sensor_launch/launch/hesai_XT32.launch.xml
index c47f05fd..7ec89fb8 100644
--- a/common_sensor_launch/launch/hesai_XT32.launch.xml
+++ b/common_sensor_launch/launch/hesai_XT32.launch.xml
@@ -12,6 +12,7 @@
   <arg name="scan_phase" default="0.0"/>
   <arg name="cloud_min_angle" default="0"/>
   <arg name="cloud_max_angle" default="360"/>
+  <arg name="max_range" default="100.0"/>
   <arg name="dual_return_distance_threshold" default="0.1"/>
   <arg name="vehicle_mirror_param_file"/>
   <arg name="container_name" default="hesai_node_container"/>
@@ -27,6 +28,7 @@
     <arg name="scan_phase" value="$(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"/>

From 168aac29cebe214c224e1bedd8468446f875da09 Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Wed, 28 Feb 2024 05:07:12 +0000
Subject: [PATCH 10/41] ci(pre-commit): autofix

---
 common_sensor_launch/launch/nebula_node_container.launch.py | 1 -
 1 file changed, 1 deletion(-)

diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py
index f4054af4..abb72290 100644
--- a/common_sensor_launch/launch/nebula_node_container.launch.py
+++ b/common_sensor_launch/launch/nebula_node_container.launch.py
@@ -288,7 +288,6 @@ def add_launch_arg(name: str, default_value=None, description=None):
     add_launch_arg("ptp_profile", "1588v2")
     add_launch_arg("ptp_transport_type", "L2")
 
-
     set_container_executable = SetLaunchConfiguration(
         "container_executable",
         "component_container",

From 78d388ba73c751688b7b09c7e326abaf3ecbaef9 Mon Sep 17 00:00:00 2001
From: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>
Date: Wed, 21 Feb 2024 18:17:45 +0900
Subject: [PATCH 11/41] chore: generalized radar names

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>
---
 .../config/sensors_calibration.yaml           | 12 +--
 aip_xx1_description/urdf/sensors.xacro        | 84 +++++++++----------
 2 files changed, 48 insertions(+), 48 deletions(-)

diff --git a/aip_xx1_description/config/sensors_calibration.yaml b/aip_xx1_description/config/sensors_calibration.yaml
index f55dad76..5121000a 100644
--- a/aip_xx1_description/config/sensors_calibration.yaml
+++ b/aip_xx1_description/config/sensors_calibration.yaml
@@ -27,42 +27,42 @@ base_link:
   #   roll: -0.02
   #   pitch: 0.7281317
   #   yaw: 3.141592
-  ars548_front_center_base_link:
+  front_center/radar_link:
     x: 3.520 # Design Value
     y: 0.0 # Design Value
     z: 0.6352
     roll: 0.0 # Design Value
     pitch: 0.0 # Design Value
     yaw: 0.0 # Design Value
-  ars548_front_right_base_link:
+  front_right/radar_link:
     x: 3.384 # Design Value
     y: -0.7775 # Design Value
     z: 0.410
     roll: 0.0 # Design Value
     pitch: 0.0 # Design Value
     yaw: -1.22173 # Design Value
-  ars548_front_left_base_link:
+  front_left/radar_link:
     x: 3.384 # Design Value
     y: 0.7775 # Design Value
     z: 0.410
     roll: 0.0 # Design Value
     pitch: 0.0 # Design Value
     yaw: 1.22173 # Design Value
-  ars548_back_center_base_link:
+  rear_center/radar_link:
     x: -0.858 # Design Value
     y: 0.0 # Design Value
     z: 0.520
     roll: 0.0 # Design Value
     pitch: 0.0 # Design Value
     yaw: 3.141592 # Design Value
-  ars548_back_right_base_link:
+  rear_right/radar_link:
     x: -0.782 # Design Value
     y: -0.761 # Design Value
     z: 0.520
     roll: 0.0 # Design Value
     pitch: 0.0 # Design Value
     yaw: -2.0944 # Design Value
-  ars548_back_left_base_link:
+  rear_left/radar_link:
     x: -0.782 # Design Value
     y: 0.761 # Design Value
     z: 0.520
diff --git a/aip_xx1_description/urdf/sensors.xacro b/aip_xx1_description/urdf/sensors.xacro
index 4ab453ba..b92bb19b 100644
--- a/aip_xx1_description/urdf/sensors.xacro
+++ b/aip_xx1_description/urdf/sensors.xacro
@@ -59,63 +59,63 @@
   <!-- embedded radar sensors -->
   <!-- <xacro:include filename="$(find radar_description)/urdf/radar.xacro"/>
   <xacro:radar_macro
-    name="ars548_front_center"
+    name="radar_front_center"
     parent="base_link"
-    x="${calibration['base_link']['ars548_front_center_base_link']['x']}"
-    y="${calibration['base_link']['ars548_front_center_base_link']['y']}"
-    z="${calibration['base_link']['ars548_front_center_base_link']['z']}"
-    roll="${calibration['base_link']['ars548_front_center_base_link']['roll']}"
-    pitch="${calibration['base_link']['ars548_front_center_base_link']['pitch']}"
-    yaw="${calibration['base_link']['ars548_front_center_base_link']['yaw']}"
+    x="${calibration['base_link']['front_center/radar_link']['x']}"
+    y="${calibration['base_link']['front_center/radar_link']['y']}"
+    z="${calibration['base_link']['front_center/radar_link']['z']}"
+    roll="${calibration['base_link']['front_center/radar_link']['roll']}"
+    pitch="${calibration['base_link']['front_center/radar_link']['pitch']}"
+    yaw="${calibration['base_link']['front_center/radar_link']['yaw']}"
   />
   <xacro:radar_macro
-    name="ars548_front_right"
+    name="radar_front_right"
     parent="base_link"
-    x="${calibration['base_link']['ars548_front_right_base_link']['x']}"
-    y="${calibration['base_link']['ars548_front_right_base_link']['y']}"
-    z="${calibration['base_link']['ars548_front_right_base_link']['z']}"
-    roll="${calibration['base_link']['ars548_front_right_base_link']['roll']}"
-    pitch="${calibration['base_link']['ars548_front_right_base_link']['pitch']}"
-    yaw="${calibration['base_link']['ars548_front_right_base_link']['yaw']}"
+    x="${calibration['base_link']['front_right/radar_link']['x']}"
+    y="${calibration['base_link']['front_right/radar_link']['y']}"
+    z="${calibration['base_link']['front_right/radar_link']['z']}"
+    roll="${calibration['base_link']['front_right/radar_link']['roll']}"
+    pitch="${calibration['base_link']['front_right/radar_link']['pitch']}"
+    yaw="${calibration['base_link']['front_right/radar_link']['yaw']}"
   />
   <xacro:radar_macro
-    name="ars548_front_left"
+    name="radar_front_left"
     parent="base_link"
-    x="${calibration['base_link']['ars548_front_left_base_link']['x']}"
-    y="${calibration['base_link']['ars548_front_left_base_link']['y']}"
-    z="${calibration['base_link']['ars548_front_left_base_link']['z']}"
-    roll="${calibration['base_link']['ars548_front_left_base_link']['roll']}"
-    pitch="${calibration['base_link']['ars548_front_left_base_link']['pitch']}"
-    yaw="${calibration['base_link']['ars548_front_left_base_link']['yaw']}"
+    x="${calibration['base_link']['front_left/radar_link']['x']}"
+    y="${calibration['base_link']['front_left/radar_link']['y']}"
+    z="${calibration['base_link']['front_left/radar_link']['z']}"
+    roll="${calibration['base_link']['front_left/radar_link']['roll']}"
+    pitch="${calibration['base_link']['front_left/radar_link']['pitch']}"
+    yaw="${calibration['base_link']['front_left/radar_link']['yaw']}"
   />
   <xacro:radar_macro
-    name="ars548_back_center"
+    name="radar_back_center"
     parent="base_link"
-    x="${calibration['base_link']['ars548_back_center_base_link']['x']}"
-    y="${calibration['base_link']['ars548_back_center_base_link']['y']}"
-    z="${calibration['base_link']['ars548_back_center_base_link']['z']}"
-    roll="${calibration['base_link']['ars548_back_center_base_link']['roll']}"
-    pitch="${calibration['base_link']['ars548_back_center_base_link']['pitch']}"
-    yaw="${calibration['base_link']['ars548_back_center_base_link']['yaw']}"
+    x="${calibration['base_link']['rear_center/radar_link']['x']}"
+    y="${calibration['base_link']['rear_center/radar_link']['y']}"
+    z="${calibration['base_link']['rear_center/radar_link']['z']}"
+    roll="${calibration['base_link']['rear_center/radar_link']['roll']}"
+    pitch="${calibration['base_link']['rear_center/radar_link']['pitch']}"
+    yaw="${calibration['base_link']['rear_center/radar_link']['yaw']}"
   />
   <xacro:radar_macro
-    name="ars548_back_right"
+    name="radar_back_right"
     parent="base_link"
-    x="${calibration['base_link']['ars548_back_right_base_link']['x']}"
-    y="${calibration['base_link']['ars548_back_right_base_link']['y']}"
-    z="${calibration['base_link']['ars548_back_right_base_link']['z']}"
-    roll="${calibration['base_link']['ars548_back_right_base_link']['roll']}"
-    pitch="${calibration['base_link']['ars548_back_right_base_link']['pitch']}"
-    yaw="${calibration['base_link']['ars548_back_right_base_link']['yaw']}"
+    x="${calibration['base_link']['rear_right/radar_link']['x']}"
+    y="${calibration['base_link']['rear_right/radar_link']['y']}"
+    z="${calibration['base_link']['rear_right/radar_link']['z']}"
+    roll="${calibration['base_link']['rear_right/radar_link']['roll']}"
+    pitch="${calibration['base_link']['rear_right/radar_link']['pitch']}"
+    yaw="${calibration['base_link']['rear_right/radar_link']['yaw']}"
   />
   <xacro:radar_macro
-    name="ars548_back_left"
+    name="radar_back_left"
     parent="base_link"
-    x="${calibration['base_link']['ars548_back_left_base_link']['x']}"
-    y="${calibration['base_link']['ars548_back_left_base_link']['y']}"
-    z="${calibration['base_link']['ars548_back_left_base_link']['z']}"
-    roll="${calibration['base_link']['ars548_back_left_base_link']['roll']}"
-    pitch="${calibration['base_link']['ars548_back_left_base_link']['pitch']}"
-    yaw="${calibration['base_link']['ars548_back_left_base_link']['yaw']}"
+    x="${calibration['base_link']['rear_left/radar_link']['x']}"
+    y="${calibration['base_link']['rear_left/radar_link']['y']}"
+    z="${calibration['base_link']['rear_left/radar_link']['z']}"
+    roll="${calibration['base_link']['rear_left/radar_link']['roll']}"
+    pitch="${calibration['base_link']['rear_left/radar_link']['pitch']}"
+    yaw="${calibration['base_link']['rear_left/radar_link']['yaw']}"
   /> -->
 </robot>

From 1bd6ef936fcf0326dc266aa2459de8336e6bd07f Mon Sep 17 00:00:00 2001
From: "yuki.takagi@car_8" <yuki.takagi@tier4.jp>
Date: Wed, 28 Feb 2024 15:05:20 +0900
Subject: [PATCH 12/41] feat(aip_xx1_description): update side lidar name

Signed-off-by: yuki.takagi@car_8 <yuki.takagi@tier4.jp>
---
 aip_xx1_description/urdf/sensor_kit.xacro | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/aip_xx1_description/urdf/sensor_kit.xacro b/aip_xx1_description/urdf/sensor_kit.xacro
index 647d70d7..73472fc9 100644
--- a/aip_xx1_description/urdf/sensor_kit.xacro
+++ b/aip_xx1_description/urdf/sensor_kit.xacro
@@ -35,7 +35,7 @@
       yaw="${calibration['sensor_kit_base_link']['hesai_top_base_link']['yaw']}"
     />
     <xacro:PandarXT-32
-      name="hesai_right"
+      name="hesai_side_right"
       parent="sensor_kit_base_link"
       x="${calibration['sensor_kit_base_link']['hesai_right_base_link']['x']}"
       y="${calibration['sensor_kit_base_link']['hesai_right_base_link']['y']}"
@@ -45,7 +45,7 @@
       yaw="${calibration['sensor_kit_base_link']['hesai_right_base_link']['yaw']}"
     />
     <xacro:PandarXT-32
-      name="hesai_left"
+      name="hesai_side_left"
       parent="sensor_kit_base_link"
       x="${calibration['sensor_kit_base_link']['hesai_left_base_link']['x']}"
       y="${calibration['sensor_kit_base_link']['hesai_left_base_link']['y']}"

From 3f9e267af93c5302c79035681296d31df923a106 Mon Sep 17 00:00:00 2001
From: "yuki.takagi@car_8" <yuki.takagi@tier4.jp>
Date: Wed, 28 Feb 2024 15:07:43 +0900
Subject: [PATCH 13/41] feat(aip_xx1_launch): enable imu in adm ecus

Signed-off-by: yuki.takagi@car_8 <yuki.takagi@tier4.jp>
---
 aip_xx1_launch/launch/imu.launch.xml     | 22 ++++++++++++++--------
 aip_xx1_launch/launch/sensing.launch.xml |  4 ++--
 2 files changed, 16 insertions(+), 10 deletions(-)

diff --git a/aip_xx1_launch/launch/imu.launch.xml b/aip_xx1_launch/launch/imu.launch.xml
index b764d598..22f42d39 100644
--- a/aip_xx1_launch/launch/imu.launch.xml
+++ b/aip_xx1_launch/launch/imu.launch.xml
@@ -1,22 +1,28 @@
 <launch>
 
-  <arg name="launch_driver" default="true" />
-  <arg name ="vehicle_id" default="$(env VEHICLE_ID default)" />
-
   <group>
     <push-ros-namespace namespace="imu"/>
 
+    <arg name="launch_driver" default="true" />
+    <arg name="interface" default="canImu"/>
+    <arg name="receiver_interval_sec" default="0.01"/>
+    <arg name ="vehicle_id" default="$(env VEHICLE_ID default)" />
+
     <group>
       <push-ros-namespace namespace="tamagawa"/>
-      <node pkg="tamagawa_imu_driver" name="tag_serial_driver" exec="tag_serial_driver" if="$(var launch_driver)" respawn="true" respawn_delay="10.0">
-        <remap from="imu/data_raw" to="imu_raw" />
-        <param name="port" value="/dev/imu" />
-        <param name="imu_frame_id" value="tamagawa/imu_link" />
+      <include file="$(find-pkg-share ros2_socketcan)/launch/socket_can_receiver.launch.py">
+        <arg name="interface" value="$(var interface)"/>
+        <arg name="interval_sec" value="$(var receiver_interval_sec)"/>
+      </include>
+      <node pkg="tamagawa_imu_driver" name="tag_can_driver" exec="tag_can_driver" if="$(var launch_driver)">
+        <remap from="/can/imu" to="from_can_bus"/>
+        <remap from="imu/data_raw" to="imu_raw"/>
+        <param name="imu_frame_id" value="tamagawa/imu_link"/>
       </node>
     </group>
 
     <arg name="imu_raw_name" default="tamagawa/imu_raw"/>
-    <arg name="imu_corrector_param_file" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_xx1/imu_corrector.param.yaml"/>
+    <arg name="imu_corrector_param_file" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/imu_corrector.param.yaml"/>
     <include file="$(find-pkg-share imu_corrector)/launch/imu_corrector.launch.xml">
       <arg name="input_topic" value="$(var imu_raw_name)"/>
       <arg name="output_topic" value="imu_data"/>
diff --git a/aip_xx1_launch/launch/sensing.launch.xml b/aip_xx1_launch/launch/sensing.launch.xml
index db7c3dfb..a4468878 100644
--- a/aip_xx1_launch/launch/sensing.launch.xml
+++ b/aip_xx1_launch/launch/sensing.launch.xml
@@ -23,9 +23,9 @@
     </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">

From 7c307ee3e3cb3165bdff458a954c114d65fd8d88 Mon Sep 17 00:00:00 2001
From: "yuki.takagi@car_8" <yuki.takagi@tier4.jp>
Date: Wed, 28 Feb 2024 15:23:06 +0900
Subject: [PATCH 14/41] change concate lidars

---
 aip_xx1_launch/launch/pointcloud_preprocessor.launch.py | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
index e53dfb70..ea35c49d 100644
--- a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
+++ b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
@@ -39,9 +39,10 @@ def launch_setup(context, *args, **kwargs):
             {
                 "input_topics": [
                     "/sensing/lidar/top/pointcloud",
-                    "/sensing/lidar/left/pointcloud",
-                    "/sensing/lidar/right/pointcloud",
-                    "/sensing/lidar/rear/pointcloud",
+                    "/sensing/lidar/side_left/pointcloud",
+                    "/sensing/lidar/side_right/pointcloud",
+                    "/sensing/lidar/front_left/pointcloud",
+                    "/sensing/lidar/front_right/pointcloud",
                 ],
                 "output_frame": LaunchConfiguration("base_frame"),
                 "input_offset": [
@@ -49,6 +50,7 @@ def launch_setup(context, *args, **kwargs):
                     0.025,
                     0.025,
                     0.025,
+                    0.025,
                 ],  # each sensor will wait 60, 70, 70, 70ms
                 "timeout_sec": 0.095,  # set shorter than 100ms
                 "input_twist_topic_type": "twist",

From fe4a73fb8de26702af3742888a36057b59d5a23b Mon Sep 17 00:00:00 2001
From: "yuki.takagi@car_8" <yuki.takagi@tier4.jp>
Date: Wed, 28 Feb 2024 16:20:13 +0900
Subject: [PATCH 15/41] update for xx1 gen2

---
 .../config/sensor_kit_calibration.yaml           | 14 +++++++-------
 .../config/sensors_calibration.yaml              | 16 ++++++++--------
 2 files changed, 15 insertions(+), 15 deletions(-)

diff --git a/aip_xx1_description/config/sensor_kit_calibration.yaml b/aip_xx1_description/config/sensor_kit_calibration.yaml
index 14c61651..6dcc6848 100644
--- a/aip_xx1_description/config/sensor_kit_calibration.yaml
+++ b/aip_xx1_description/config/sensor_kit_calibration.yaml
@@ -82,21 +82,21 @@ sensor_kit_base_link:
     z: 0.0 # Design Value
     roll: 0.0 # Design Value
     pitch: 0.0 # Design Value
-    yaw: -0.349066 # Design Value
+    yaw: 1.22173032679 # Design Value
   hesai_left_base_link:
     x: 0.0 # Design Value
     y: 0.564 # Design Value
     z: -0.300 # Design Value
-    roll: 0.0 # Design Value
-    pitch: 0.872665 # Design Value
-    yaw: 1.5708 # Design Value
+    roll: 0.872665 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 3.14159265359 # Design Value
   hesai_right_base_link:
     x: 0.0 # Design Value
     y: -0.564 # Design Value
     z: -0.300 # Design Value
-    roll: 0.0 # Design Value
-    pitch: 0.872665 # Design Value
-    yaw: -1.5708 # Design Value
+    roll: 0.69813132679 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 0.0 # Design Value
   gnss_link:
     x: -0.279 # Design Value
     y: 0.0 # Design Value
diff --git a/aip_xx1_description/config/sensors_calibration.yaml b/aip_xx1_description/config/sensors_calibration.yaml
index 5121000a..9d4bbed6 100644
--- a/aip_xx1_description/config/sensors_calibration.yaml
+++ b/aip_xx1_description/config/sensors_calibration.yaml
@@ -12,14 +12,14 @@ base_link:
     z: 0.5482
     roll: 0.0 # Design Value
     pitch: 0.0 # Design Value
-    yaw: 0.872665 # Design Value
+    yaw: 2.44346132679 # Design Value
   hesai_front_right_base_link:
     x: 3.373 # Design Value
     y: -0.740 # Design Value
     z: 0.5482
     roll: 0.0 # Design Value
     pitch: 0.0 # Design Value
-    yaw: -0.872665 # Design Value
+    yaw: 0.69813132679 # Design Value
   # velodyne_rear_base_link: #unused
   #   x: -0.358
   #   y: 0.0
@@ -27,42 +27,42 @@ base_link:
   #   roll: -0.02
   #   pitch: 0.7281317
   #   yaw: 3.141592
-  front_center/radar_link:
+  ars548_front_center_base_link:
     x: 3.520 # Design Value
     y: 0.0 # Design Value
     z: 0.6352
     roll: 0.0 # Design Value
     pitch: 0.0 # Design Value
     yaw: 0.0 # Design Value
-  front_right/radar_link:
+  ars548_front_right_base_link:
     x: 3.384 # Design Value
     y: -0.7775 # Design Value
     z: 0.410
     roll: 0.0 # Design Value
     pitch: 0.0 # Design Value
     yaw: -1.22173 # Design Value
-  front_left/radar_link:
+  ars548_front_left_base_link:
     x: 3.384 # Design Value
     y: 0.7775 # Design Value
     z: 0.410
     roll: 0.0 # Design Value
     pitch: 0.0 # Design Value
     yaw: 1.22173 # Design Value
-  rear_center/radar_link:
+  ars548_back_center_base_link:
     x: -0.858 # Design Value
     y: 0.0 # Design Value
     z: 0.520
     roll: 0.0 # Design Value
     pitch: 0.0 # Design Value
     yaw: 3.141592 # Design Value
-  rear_right/radar_link:
+  ars548_back_right_base_link:
     x: -0.782 # Design Value
     y: -0.761 # Design Value
     z: 0.520
     roll: 0.0 # Design Value
     pitch: 0.0 # Design Value
     yaw: -2.0944 # Design Value
-  rear_left/radar_link:
+  ars548_back_left_base_link:
     x: -0.782 # Design Value
     y: 0.761 # Design Value
     z: 0.520

From b7c0d3ce0f51c7f2d9cafc15d819f7fa4440fcdc Mon Sep 17 00:00:00 2001
From: "yuki.takagi@car_8" <yuki.takagi@tier4.jp>
Date: Wed, 28 Feb 2024 16:52:28 +0900
Subject: [PATCH 16/41] rotate top lidar 180

---
 aip_xx1_description/config/sensor_kit_calibration.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/aip_xx1_description/config/sensor_kit_calibration.yaml b/aip_xx1_description/config/sensor_kit_calibration.yaml
index 6dcc6848..88288533 100644
--- a/aip_xx1_description/config/sensor_kit_calibration.yaml
+++ b/aip_xx1_description/config/sensor_kit_calibration.yaml
@@ -82,7 +82,7 @@ sensor_kit_base_link:
     z: 0.0 # Design Value
     roll: 0.0 # Design Value
     pitch: 0.0 # Design Value
-    yaw: 1.22173032679 # Design Value
+    yaw: 4.36332298038 # Design Value
   hesai_left_base_link:
     x: 0.0 # Design Value
     y: 0.564 # Design Value

From 4870946183bb0e325a30b8cb0db5e58a2f0aad57 Mon Sep 17 00:00:00 2001
From: j4tfwm6z <j4tfwm6z@tier4.jp>
Date: Fri, 1 Mar 2024 19:49:18 +0900
Subject: [PATCH 17/41] change imu_corrector param aip_x2 -> aip_xx1

---
 aip_xx1_launch/launch/imu.launch.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/aip_xx1_launch/launch/imu.launch.xml b/aip_xx1_launch/launch/imu.launch.xml
index 22f42d39..7f1f0337 100644
--- a/aip_xx1_launch/launch/imu.launch.xml
+++ b/aip_xx1_launch/launch/imu.launch.xml
@@ -22,7 +22,7 @@
     </group>
 
     <arg name="imu_raw_name" default="tamagawa/imu_raw"/>
-    <arg name="imu_corrector_param_file" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/imu_corrector.param.yaml"/>
+    <arg name="imu_corrector_param_file" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_xx1/imu_corrector.param.yaml"/>
     <include file="$(find-pkg-share imu_corrector)/launch/imu_corrector.launch.xml">
       <arg name="input_topic" value="$(var imu_raw_name)"/>
       <arg name="output_topic" value="imu_data"/>

From 78143fc0f9614638284952fc0fd03ddab3549064 Mon Sep 17 00:00:00 2001
From: j4tfwm6z <j4tfwm6z@tier4.jp>
Date: Mon, 4 Mar 2024 13:58:47 +0900
Subject: [PATCH 18/41] enable gnss

---
 aip_xx1_launch/launch/sensing.launch.xml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/aip_xx1_launch/launch/sensing.launch.xml b/aip_xx1_launch/launch/sensing.launch.xml
index a4468878..e8aa4186 100644
--- a/aip_xx1_launch/launch/sensing.launch.xml
+++ b/aip_xx1_launch/launch/sensing.launch.xml
@@ -28,9 +28,9 @@
     </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">

From f971b2cb98c0247e3c44160740eb2371b54700c2 Mon Sep 17 00:00:00 2001
From: Yukihiro Saito <yukky.saito@gmail.com>
Date: Tue, 5 Mar 2024 17:10:46 +0900
Subject: [PATCH 19/41] fix wrong urdf model for OT128

---
 aip_xx1_description/urdf/sensor_kit.xacro | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/aip_xx1_description/urdf/sensor_kit.xacro b/aip_xx1_description/urdf/sensor_kit.xacro
index 73472fc9..3f99c698 100644
--- a/aip_xx1_description/urdf/sensor_kit.xacro
+++ b/aip_xx1_description/urdf/sensor_kit.xacro
@@ -24,7 +24,7 @@
     <!-- sensor -->
     <xacro:property name="calibration" value="${xacro.load_yaml('$(arg config_dir)/sensor_kit_calibration.yaml')}"/>
     <!-- lidar -->
-    <xacro:PandarXT-32
+    <xacro:PandarOT-128
       name="hesai_top"
       parent="sensor_kit_base_link"
       x="${calibration['sensor_kit_base_link']['hesai_top_base_link']['x']}"

From 9d8d78af42739df6eea00ed2d17fa1b5661b9b10 Mon Sep 17 00:00:00 2001
From: Yukihiro Saito <yukky.saito@gmail.com>
Date: Tue, 5 Mar 2024 17:29:10 +0900
Subject: [PATCH 20/41] fix bug

Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>
---
 aip_xx1_description/urdf/sensor_kit.xacro | 1 +
 1 file changed, 1 insertion(+)

diff --git a/aip_xx1_description/urdf/sensor_kit.xacro b/aip_xx1_description/urdf/sensor_kit.xacro
index 3f99c698..8830a4d3 100644
--- a/aip_xx1_description/urdf/sensor_kit.xacro
+++ b/aip_xx1_description/urdf/sensor_kit.xacro
@@ -2,6 +2,7 @@
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
   <xacro:macro name="sensor_kit_macro" params="parent x y z roll pitch yaw">
     <xacro:include filename="$(find pandar_description)/urdf/pandar_xt32.xacro"/>
+    <xacro:include filename="$(find pandar_description)/urdf/pandar_ot128.xacro"/>
     <xacro:include filename="$(find velodyne_description)/urdf/VLP-16.urdf.xacro"/>
     <xacro:include filename="$(find camera_description)/urdf/monocular_camera.xacro"/>
     <xacro:include filename="$(find imu_description)/urdf/imu.xacro"/>

From 3a32bfdccf5d14eaee53836e59ea2f576e81d00b Mon Sep 17 00:00:00 2001
From: Yukihiro Saito <yukky.saito@gmail.com>
Date: Tue, 5 Mar 2024 20:16:13 +0900
Subject: [PATCH 21/41] change max_range

---
 aip_xx1_launch/launch/lidar.launch.xml            | 9 +++++----
 common_sensor_launch/launch/hesai_XT32.launch.xml | 1 -
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/aip_xx1_launch/launch/lidar.launch.xml b/aip_xx1_launch/launch/lidar.launch.xml
index 1fd2efb8..7f77ad2d 100644
--- a/aip_xx1_launch/launch/lidar.launch.xml
+++ b/aip_xx1_launch/launch/lidar.launch.xml
@@ -14,6 +14,7 @@
     <group>
       <push-ros-namespace namespace="top"/>
       <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_OT128.launch.xml">
+        <arg name="max_range" value="300.0"/>
         <arg name="sensor_frame" value="hesai_top"/>
         <arg name="sensor_ip" value="192.168.1.201"/>
         <arg name="host_ip" value="$(var host_ip)"/>
@@ -28,7 +29,7 @@
     <group>
       <push-ros-namespace namespace="front_left"/>
       <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launch.xml">
-        <arg name="max_range" value="5.0"/>
+        <arg name="max_range" value="300.0"/>
         <arg name="sensor_frame" value="hesai_front_left"/>
         <arg name="sensor_ip" value="192.168.1.21"/>
         <arg name="host_ip" value="$(var host_ip)"/>
@@ -45,7 +46,7 @@
     <group>
       <push-ros-namespace namespace="front_right"/>
       <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launch.xml">
-        <arg name="max_range" value="5.0"/>
+        <arg name="max_range" value="300.0"/>
         <arg name="sensor_frame" value="hesai_front_right"/>
         <arg name="sensor_ip" value="192.168.1.22"/>
         <arg name="host_ip" value="$(var host_ip)"/>
@@ -62,7 +63,7 @@
     <group>
       <push-ros-namespace namespace="side_left"/>
       <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launch.xml">
-        <arg name="max_range" value="5.0"/>
+        <arg name="max_range" value="10.0"/>
         <arg name="sensor_frame" value="hesai_side_left"/>
         <arg name="sensor_ip" value="192.168.1.23"/>
         <arg name="host_ip" value="$(var host_ip)"/>
@@ -79,7 +80,7 @@
     <group>
       <push-ros-namespace namespace="side_right"/>
       <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launch.xml">
-        <arg name="max_range" value="5.0"/>
+        <arg name="max_range" value="10.0"/>
         <arg name="sensor_frame" value="hesai_side_right"/>
         <arg name="sensor_ip" value="192.168.1.24"/>
         <arg name="host_ip" value="$(var host_ip)"/>
diff --git a/common_sensor_launch/launch/hesai_XT32.launch.xml b/common_sensor_launch/launch/hesai_XT32.launch.xml
index 7ec89fb8..1a77c267 100644
--- a/common_sensor_launch/launch/hesai_XT32.launch.xml
+++ b/common_sensor_launch/launch/hesai_XT32.launch.xml
@@ -12,7 +12,6 @@
   <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"/>

From c714228111dc628e41ba501838f15471a08f8e16 Mon Sep 17 00:00:00 2001
From: j4tfwm6z <j4tfwm6z@tier4.jp>
Date: Mon, 11 Mar 2024 14:26:33 +0900
Subject: [PATCH 22/41] feat: added the radars to the aip launcher and
 description

Signed-off-by: j4tfwm6z <j4tfwm6z@tier4.jp>
---
 .../config/sensors_calibration.yaml           |  12 +-
 aip_xx1_description/urdf/sensors.xacro        |   4 +-
 aip_xx1_launch/launch/radar.launch.xml        | 142 ++++++++++++++++--
 3 files changed, 141 insertions(+), 17 deletions(-)

diff --git a/aip_xx1_description/config/sensors_calibration.yaml b/aip_xx1_description/config/sensors_calibration.yaml
index 9d4bbed6..a57d3ea9 100644
--- a/aip_xx1_description/config/sensors_calibration.yaml
+++ b/aip_xx1_description/config/sensors_calibration.yaml
@@ -27,42 +27,42 @@ base_link:
   #   roll: -0.02
   #   pitch: 0.7281317
   #   yaw: 3.141592
-  ars548_front_center_base_link:
+  front_center/radar_link:
     x: 3.520 # Design Value
     y: 0.0 # Design Value
     z: 0.6352
     roll: 0.0 # Design Value
     pitch: 0.0 # Design Value
     yaw: 0.0 # Design Value
-  ars548_front_right_base_link:
+  front_right/radar_link:
     x: 3.384 # Design Value
     y: -0.7775 # Design Value
     z: 0.410
     roll: 0.0 # Design Value
     pitch: 0.0 # Design Value
     yaw: -1.22173 # Design Value
-  ars548_front_left_base_link:
+  front_left/radar_link:
     x: 3.384 # Design Value
     y: 0.7775 # Design Value
     z: 0.410
     roll: 0.0 # Design Value
     pitch: 0.0 # Design Value
     yaw: 1.22173 # Design Value
-  ars548_back_center_base_link:
+  rear_center/radar_link:
     x: -0.858 # Design Value
     y: 0.0 # Design Value
     z: 0.520
     roll: 0.0 # Design Value
     pitch: 0.0 # Design Value
     yaw: 3.141592 # Design Value
-  ars548_back_right_base_link:
+  rear_right/radar_link:
     x: -0.782 # Design Value
     y: -0.761 # Design Value
     z: 0.520
     roll: 0.0 # Design Value
     pitch: 0.0 # Design Value
     yaw: -2.0944 # Design Value
-  ars548_back_left_base_link:
+  rear_left/radar_link:
     x: -0.782 # Design Value
     y: 0.761 # Design Value
     z: 0.520
diff --git a/aip_xx1_description/urdf/sensors.xacro b/aip_xx1_description/urdf/sensors.xacro
index b92bb19b..f6899f14 100644
--- a/aip_xx1_description/urdf/sensors.xacro
+++ b/aip_xx1_description/urdf/sensors.xacro
@@ -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="radar_front_center"
     parent="base_link"
@@ -117,5 +117,5 @@
     roll="${calibration['base_link']['rear_left/radar_link']['roll']}"
     pitch="${calibration['base_link']['rear_left/radar_link']['pitch']}"
     yaw="${calibration['base_link']['rear_left/radar_link']['yaw']}"
-  /> -->
+  />
 </robot>
diff --git a/aip_xx1_launch/launch/radar.launch.xml b/aip_xx1_launch/launch/radar.launch.xml
index 44d24722..6b842d4f 100644
--- a/aip_xx1_launch/launch/radar.launch.xml
+++ b/aip_xx1_launch/launch/radar.launch.xml
@@ -1,23 +1,147 @@
 <launch>
-  <arg name="launch_driver" default="true" />
-  <arg name="input/frame" default="from_can_bus" />
-  <arg name="radar_can_device" default="canRadar" />
+  <arg name="launch_driver" default="true" description="do launch driver"/>
+
+  <let name="odometry_topic" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
+  <let name="acceleration_topic" value="/localization/acceleration"/>
+  <let name="steering_angle_topic" value="/vehicle/status/steering_status_scalar"/>
 
   <group>
     <push-ros-namespace namespace="radar"/>
 
+    <!--node pkg="tf2_ros" exec="static_transform_publisher" name="tf_broadcaster" output="screen" args="$(var wheel_base) 0 0 0 0 0 base_link autosar"/-->
+    <node pkg="topic_tools" exec="transform" name="steer_angle_transform" output="screen" args="/vehicle/status/steering_status /vehicle/status/steering_status_scalar std_msgs/msg/Float32 'std_msgs.msg.Float32(data=m.steering_tire_angle)'  --import autoware_auto_vehicle_msgs std_msgs --wait-for-start"/>
+    <!-- ros2 run topic_tools transform /vehicle/status/steering_status /vehicle/status/steering_status_scalar std_msgs/msg/Float64 'std_msgs.msg.Float64(data=m.steering_tire_angle)'  \-\-import autoware_auto_vehicle_msgs std_msgs -->
+
     <group>
       <push-ros-namespace namespace="front_center"/>
+        <include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml">
+
+          <arg name="odometry_topic" value="$(var odometry_topic)"/>
+          <arg name="acceleration_topic" value="$(var acceleration_topic)"/>
+          <arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>
+
+          <arg name="sensor_ip" value="10.13.1.114"/>
+          <arg name="frame_id" value="front_center/radar_link"/>
+
+          <arg name="sensor_model" value="ARS548"/>
+          <arg name="host_ip" value="10.13.1.166"/>
+          <arg name="multicast_ip" value="224.0.2.2"/>
+          <arg name="data_port" value="42102"/>
+          <arg name="configuration_host_port" value="42401"/>
+          <arg name="configuration_sensor_port" value="42101"/>
+
+          <arg name="new_plug_orientation" value="0"/>
+      </include>
+    </group>
+
+    <group>
+      <push-ros-namespace namespace="front_left"/>
+        <include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml">
+
+          <arg name="odometry_topic" value="$(var odometry_topic)"/>
+          <arg name="acceleration_topic" value="$(var acceleration_topic)"/>
+          <arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>
 
-      <include file="$(find-pkg-share common_sensor_launch)/launch/ars408.launch.xml">
-        <arg name="launch_driver" value="$(var launch_driver)" />
-        <arg name="interface" value="$(var radar_can_device)" />
-        <arg name="input/frame" value="$(var input/frame)" />
-        <arg name="output_frame" value="ars408_front_center" />
+          <arg name="sensor_ip" value="10.13.1.115"/>
+          <arg name="frame_id" value="front_left/radar_link"/>
+
+          <arg name="sensor_model" value="ARS548"/>
+          <arg name="host_ip" value="10.13.1.166"/>
+          <arg name="multicast_ip" value="224.0.2.2"/>
+          <arg name="data_port" value="42102"/>
+          <arg name="configuration_host_port" value="42401"/>
+          <arg name="configuration_sensor_port" value="42101"/>
+
+          <arg name="new_plug_orientation" value="0"/>
       </include>
     </group>
 
-    <node pkg="topic_tools" exec="relay" name="radar_relay" output="log" args="front_center/detected_objects detected_objects"/>
+    <group>
+      <push-ros-namespace namespace="front_right"/>
+        <include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml">
+
+          <arg name="odometry_topic" value="$(var odometry_topic)"/>
+          <arg name="acceleration_topic" value="$(var acceleration_topic)"/>
+          <arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>
+
+          <arg name="sensor_ip" value="10.13.1.116"/>
+          <arg name="frame_id" value="front_right/radar_link"/>
+
+          <arg name="sensor_model" value="ARS548"/>
+          <arg name="host_ip" value="10.13.1.166"/>
+          <arg name="multicast_ip" value="224.0.2.2"/>
+          <arg name="data_port" value="42102"/>
+          <arg name="configuration_host_port" value="42401"/>
+          <arg name="configuration_sensor_port" value="42101"/>
+
+          <arg name="new_plug_orientation" value="0"/>
+      </include>
+    </group>
+
+    <group>
+      <push-ros-namespace namespace="rear_center"/>
+        <include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml">
 
+          <arg name="odometry_topic" value="$(var odometry_topic)"/>
+          <arg name="acceleration_topic" value="$(var acceleration_topic)"/>
+          <arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>
+
+          <arg name="sensor_ip" value="10.13.1.117"/>
+          <arg name="frame_id" value="rear_center/radar_link"/>
+
+          <arg name="sensor_model" value="ARS548"/>
+          <arg name="host_ip" value="10.13.1.166"/>
+          <arg name="multicast_ip" value="224.0.2.2"/>
+          <arg name="data_port" value="42102"/>
+          <arg name="configuration_host_port" value="42401"/>
+          <arg name="configuration_sensor_port" value="42101"/>
+
+          <arg name="new_plug_orientation" value="0"/>
+      </include>
+    </group>
+
+    <group>
+      <push-ros-namespace namespace="rear_left"/>
+        <include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml">
+
+          <arg name="odometry_topic" value="$(var odometry_topic)"/>
+          <arg name="acceleration_topic" value="$(var acceleration_topic)"/>
+          <arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>
+
+          <arg name="sensor_ip" value="10.13.1.118"/>
+          <arg name="frame_id" value="rear_left/radar_link"/>
+
+          <arg name="sensor_model" value="ARS548"/>
+          <arg name="host_ip" value="10.13.1.166"/>
+          <arg name="multicast_ip" value="224.0.2.2"/>
+          <arg name="data_port" value="42102"/>
+          <arg name="configuration_host_port" value="42401"/>
+          <arg name="configuration_sensor_port" value="42101"/>
+
+          <arg name="new_plug_orientation" value="0"/>
+      </include>
+    </group>
+
+    <group>
+      <push-ros-namespace namespace="rear_right"/>
+        <include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml">
+
+          <arg name="odometry_topic" value="$(var odometry_topic)"/>
+          <arg name="acceleration_topic" value="$(var acceleration_topic)"/>
+          <arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>
+
+          <arg name="sensor_ip" value="10.13.1.119"/>
+          <arg name="frame_id" value="rear_right/radar_link"/>
+
+          <arg name="sensor_model" value="ARS548"/>
+          <arg name="host_ip" value="10.13.1.166"/>
+          <arg name="multicast_ip" value="224.0.2.2"/>
+          <arg name="data_port" value="42102"/>
+          <arg name="configuration_host_port" value="42401"/>
+          <arg name="configuration_sensor_port" value="42101"/>
+
+          <arg name="new_plug_orientation" value="0"/>
+      </include>
+    </group>
   </group>
 </launch>

From 27676f056c35de5e521b36dbfae2a23f9c4f9347 Mon Sep 17 00:00:00 2001
From: j4tfwm6z <j4tfwm6z@tier4.jp>
Date: Mon, 11 Mar 2024 14:42:13 +0900
Subject: [PATCH 23/41] add nebula argments

---
 common_sensor_launch/launch/hesai_OT128.launch.xml | 1 +
 common_sensor_launch/launch/hesai_XT32.launch.xml  | 4 ++++
 2 files changed, 5 insertions(+)

diff --git a/common_sensor_launch/launch/hesai_OT128.launch.xml b/common_sensor_launch/launch/hesai_OT128.launch.xml
index ccfaced0..63b755a1 100644
--- a/common_sensor_launch/launch/hesai_OT128.launch.xml
+++ b/common_sensor_launch/launch/hesai_OT128.launch.xml
@@ -34,5 +34,6 @@
     <arg name="container_name" value="$(var container_name)"/>
     <arg name="ptp_profile" value="802.1as"/>
     <arg name="ptp_transport_type" value="L2"/>
+    <arg name="setup_sensor" value="false"/>
   </include>
 </launch>
diff --git a/common_sensor_launch/launch/hesai_XT32.launch.xml b/common_sensor_launch/launch/hesai_XT32.launch.xml
index 1a77c267..b446e499 100644
--- a/common_sensor_launch/launch/hesai_XT32.launch.xml
+++ b/common_sensor_launch/launch/hesai_XT32.launch.xml
@@ -32,6 +32,10 @@
     <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
     <arg name="use_intra_process" value="true"/>
     <arg name="use_multithread" value="true"/>
+    <arg name="ptp_profile" value="1588v2"/>
+    <arg name="ptp_transport_type" value="L2"/>
+    <arg name="setup_sensor" value="true"/>
+    <arg name="retry_hw" value="true"/>
     <arg name="container_name" value="$(var container_name)"/>
   </include>
 </launch>

From f2a74e1d43e756e7b57332a1072ef459d20a851b Mon Sep 17 00:00:00 2001
From: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>
Date: Tue, 12 Mar 2024 19:09:10 +0900
Subject: [PATCH 24/41] fix: fixed naming and enabled the radars

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>
---
 aip_xx1_description/urdf/sensors.xacro   | 12 ++++++------
 aip_xx1_launch/launch/sensing.launch.xml |  4 ++--
 2 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/aip_xx1_description/urdf/sensors.xacro b/aip_xx1_description/urdf/sensors.xacro
index f6899f14..64dbf6bb 100644
--- a/aip_xx1_description/urdf/sensors.xacro
+++ b/aip_xx1_description/urdf/sensors.xacro
@@ -59,7 +59,7 @@
   <!-- embedded radar sensors -->
   <xacro:include filename="$(find radar_description)/urdf/radar.xacro"/>
   <xacro:radar_macro
-    name="radar_front_center"
+    name="front_center/radar_link"
     parent="base_link"
     x="${calibration['base_link']['front_center/radar_link']['x']}"
     y="${calibration['base_link']['front_center/radar_link']['y']}"
@@ -69,7 +69,7 @@
     yaw="${calibration['base_link']['front_center/radar_link']['yaw']}"
   />
   <xacro:radar_macro
-    name="radar_front_right"
+    name="front_right/radar_link"
     parent="base_link"
     x="${calibration['base_link']['front_right/radar_link']['x']}"
     y="${calibration['base_link']['front_right/radar_link']['y']}"
@@ -79,7 +79,7 @@
     yaw="${calibration['base_link']['front_right/radar_link']['yaw']}"
   />
   <xacro:radar_macro
-    name="radar_front_left"
+    name="front_left/radar_link"
     parent="base_link"
     x="${calibration['base_link']['front_left/radar_link']['x']}"
     y="${calibration['base_link']['front_left/radar_link']['y']}"
@@ -89,7 +89,7 @@
     yaw="${calibration['base_link']['front_left/radar_link']['yaw']}"
   />
   <xacro:radar_macro
-    name="radar_back_center"
+    name="rear_center/radar_link"
     parent="base_link"
     x="${calibration['base_link']['rear_center/radar_link']['x']}"
     y="${calibration['base_link']['rear_center/radar_link']['y']}"
@@ -99,7 +99,7 @@
     yaw="${calibration['base_link']['rear_center/radar_link']['yaw']}"
   />
   <xacro:radar_macro
-    name="radar_back_right"
+    name="rear_right/radar_link"
     parent="base_link"
     x="${calibration['base_link']['rear_right/radar_link']['x']}"
     y="${calibration['base_link']['rear_right/radar_link']['y']}"
@@ -109,7 +109,7 @@
     yaw="${calibration['base_link']['rear_right/radar_link']['yaw']}"
   />
   <xacro:radar_macro
-    name="radar_back_left"
+    name="rear_left/radar_link"
     parent="base_link"
     x="${calibration['base_link']['rear_left/radar_link']['x']}"
     y="${calibration['base_link']['rear_left/radar_link']['y']}"
diff --git a/aip_xx1_launch/launch/sensing.launch.xml b/aip_xx1_launch/launch/sensing.launch.xml
index e8aa4186..ba6b935c 100644
--- a/aip_xx1_launch/launch/sensing.launch.xml
+++ b/aip_xx1_launch/launch/sensing.launch.xml
@@ -33,9 +33,9 @@
     </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">

From d6f66402767ca5ffafd139489d5b54432bc171f5 Mon Sep 17 00:00:00 2001
From: j4tfwm6z <j4tfwm6z@tier4.jp>
Date: Mon, 11 Mar 2024 14:23:34 +0900
Subject: [PATCH 25/41] fix pointcloud preprocess for multi_lidar_ogm

---
 .../launch/pointcloud_preprocessor.launch.py  | 19 ++++----
 .../launch/nebula_node_container.launch.py    | 47 ++++++++++++++++++-
 2 files changed, 56 insertions(+), 10 deletions(-)

diff --git a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
index ea35c49d..ed7b3bf5 100644
--- a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
+++ b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
@@ -38,22 +38,23 @@ def launch_setup(context, *args, **kwargs):
         parameters=[
             {
                 "input_topics": [
-                    "/sensing/lidar/top/pointcloud",
-                    "/sensing/lidar/side_left/pointcloud",
-                    "/sensing/lidar/side_right/pointcloud",
-                    "/sensing/lidar/front_left/pointcloud",
-                    "/sensing/lidar/front_right/pointcloud",
+                    "/sensing/lidar/top/pointcloud_before_sync",
+                    # "/sensing/lidar/side_left/pointcloud_before_sync",
+                    # "/sensing/lidar/side_right/pointcloud_before_sync",
+                    # "/sensing/lidar/front_left/pointcloud_before_sync",
+                    # "/sensing/lidar/front_right/pointcloud_before_sync",
                 ],
                 "output_frame": LaunchConfiguration("base_frame"),
                 "input_offset": [
                     0.035,
-                    0.025,
-                    0.025,
-                    0.025,
-                    0.025,
+                    # 0.025,
+                    # 0.025,
+                    # 0.025,
+                    # 0.025,
                 ],  # each sensor will wait 60, 70, 70, 70ms
                 "timeout_sec": 0.095,  # set shorter than 100ms
                 "input_twist_topic_type": "twist",
+                "publish_synchronized_pointcloud": True,
             }
         ],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py
index abb72290..9047cf18 100644
--- a/common_sensor_launch/launch/nebula_node_container.launch.py
+++ b/common_sensor_launch/launch/nebula_node_container.launch.py
@@ -115,6 +115,8 @@ def create_parameter_dict(*args):
                         "cloud_min_angle",
                         "cloud_max_angle",
                         "dual_return_distance_threshold",
+                        "setup_sensor",
+                        "retry_hw",
                     ),
                 },
             ],
@@ -126,6 +128,36 @@ def create_parameter_dict(*args):
         )
     )
 
+    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
 
@@ -188,6 +220,13 @@ def create_parameter_dict(*args):
         )
     )
 
+    # Ring Outlier Filter is the last component in the pipeline, so control the output frame here
+    if LaunchConfiguration("output_as_sensor_frame").perform(context):
+        ring_outlier_filter_parameters = {"output_frame": LaunchConfiguration("frame_id")}
+    else:
+        ring_outlier_filter_parameters = {
+            "output_frame": ""
+        }  # keep the output frame as the input frame
     nodes.append(
         ComposableNode(
             package="pointcloud_preprocessor",
@@ -195,8 +234,9 @@ def create_parameter_dict(*args):
             name="ring_outlier_filter",
             remappings=[
                 ("input", "rectified/pointcloud_ex"),
-                ("output", "pointcloud"),
+                ("output", "pointcloud_before_sync"),
             ],
+            parameters=[ring_outlier_filter_parameters],
             extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
         )
     )
@@ -236,6 +276,7 @@ def create_parameter_dict(*args):
                     "setup_sensor",
                     "ptp_profile",
                     "ptp_transport_type",
+                    "retry_hw",
                 ),
             }
         ],
@@ -263,6 +304,7 @@ def add_launch_arg(name: str, default_value=None, description=None):
     add_launch_arg("config_file", "", description="sensor configuration file")
     add_launch_arg("launch_driver", "True", "do launch driver")
     add_launch_arg("setup_sensor", "True", "configure sensor")
+    add_launch_arg("retry_hw", "false", "retry hw")
     add_launch_arg("sensor_ip", "192.168.1.201", "device ip address")
     add_launch_arg("host_ip", "255.255.255.255", "host ip address")
     add_launch_arg("scan_phase", "0.0")
@@ -287,6 +329,9 @@ def add_launch_arg(name: str, default_value=None, description=None):
     add_launch_arg("container_name", "nebula_node_container")
     add_launch_arg("ptp_profile", "1588v2")
     add_launch_arg("ptp_transport_type", "L2")
+    add_launch_arg("output_as_sensor_frame", "True", "output final pointcloud in sensor frame")
+    add_launch_arg("diag_span", "1000", "")
+    add_launch_arg("delay_monitor_ms", "2000", "")
 
     set_container_executable = SetLaunchConfiguration(
         "container_executable",

From c93ee98294e500e09b9fa45aa89443dc9b2b1d73 Mon Sep 17 00:00:00 2001
From: j4tfwm6z <j4tfwm6z@tier4.jp>
Date: Tue, 12 Mar 2024 19:42:07 +0900
Subject: [PATCH 26/41] feat: enable radar launch and concatenation for all
 lidars

Signed-off-by: j4tfwm6z <j4tfwm6z@tier4.jp>
---
 .../launch/pointcloud_preprocessor.launch.py     | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
index ed7b3bf5..4aa9736c 100644
--- a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
+++ b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
@@ -39,18 +39,18 @@ def launch_setup(context, *args, **kwargs):
             {
                 "input_topics": [
                     "/sensing/lidar/top/pointcloud_before_sync",
-                    # "/sensing/lidar/side_left/pointcloud_before_sync",
-                    # "/sensing/lidar/side_right/pointcloud_before_sync",
-                    # "/sensing/lidar/front_left/pointcloud_before_sync",
-                    # "/sensing/lidar/front_right/pointcloud_before_sync",
+                    "/sensing/lidar/side_left/pointcloud_before_sync",
+                    "/sensing/lidar/side_right/pointcloud_before_sync",
+                    "/sensing/lidar/front_left/pointcloud_before_sync",
+                    "/sensing/lidar/front_right/pointcloud_before_sync",
                 ],
                 "output_frame": LaunchConfiguration("base_frame"),
                 "input_offset": [
                     0.035,
-                    # 0.025,
-                    # 0.025,
-                    # 0.025,
-                    # 0.025,
+                    0.025,
+                    0.025,
+                    0.025,
+                    0.025,
                 ],  # each sensor will wait 60, 70, 70, 70ms
                 "timeout_sec": 0.095,  # set shorter than 100ms
                 "input_twist_topic_type": "twist",

From 3d101db6f785d71c003dfee8796845578e0a332b Mon Sep 17 00:00:00 2001
From: j4tfwm6z <j4tfwm6z@tier4.jp>
Date: Tue, 12 Mar 2024 20:03:13 +0900
Subject: [PATCH 27/41] fix(hesai_xt32): update ptp_transport_type from l2 to
 udp for xt32

Signed-off-by: j4tfwm6z <j4tfwm6z@tier4.jp>
---
 common_sensor_launch/launch/hesai_XT32.launch.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/common_sensor_launch/launch/hesai_XT32.launch.xml b/common_sensor_launch/launch/hesai_XT32.launch.xml
index b446e499..a1a50dbc 100644
--- a/common_sensor_launch/launch/hesai_XT32.launch.xml
+++ b/common_sensor_launch/launch/hesai_XT32.launch.xml
@@ -33,7 +33,7 @@
     <arg name="use_intra_process" value="true"/>
     <arg name="use_multithread" value="true"/>
     <arg name="ptp_profile" value="1588v2"/>
-    <arg name="ptp_transport_type" value="L2"/>
+    <arg name="ptp_transport_type" value="UDP"/>
     <arg name="setup_sensor" value="true"/>
     <arg name="retry_hw" value="true"/>
     <arg name="container_name" value="$(var container_name)"/>

From ca1192013f2b50d43e1d7cd36405921e3171ac05 Mon Sep 17 00:00:00 2001
From: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>
Date: Thu, 14 Mar 2024 19:25:15 +0900
Subject: [PATCH 28/41] feat: added an option to select the frame of the radar
 objects

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>
---
 aip_xx1_launch/launch/radar.launch.xml | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/aip_xx1_launch/launch/radar.launch.xml b/aip_xx1_launch/launch/radar.launch.xml
index 6b842d4f..4005c41b 100644
--- a/aip_xx1_launch/launch/radar.launch.xml
+++ b/aip_xx1_launch/launch/radar.launch.xml
@@ -22,6 +22,7 @@
 
           <arg name="sensor_ip" value="10.13.1.114"/>
           <arg name="frame_id" value="front_center/radar_link"/>
+          <arg name="object_frame" value="base_link"/>
 
           <arg name="sensor_model" value="ARS548"/>
           <arg name="host_ip" value="10.13.1.166"/>
@@ -44,6 +45,7 @@
 
           <arg name="sensor_ip" value="10.13.1.115"/>
           <arg name="frame_id" value="front_left/radar_link"/>
+          <arg name="object_frame" value="front_left/radar_link"/>
 
           <arg name="sensor_model" value="ARS548"/>
           <arg name="host_ip" value="10.13.1.166"/>
@@ -66,6 +68,7 @@
 
           <arg name="sensor_ip" value="10.13.1.116"/>
           <arg name="frame_id" value="front_right/radar_link"/>
+          <arg name="object_frame" value="front_right/radar_link"/>
 
           <arg name="sensor_model" value="ARS548"/>
           <arg name="host_ip" value="10.13.1.166"/>
@@ -88,6 +91,7 @@
 
           <arg name="sensor_ip" value="10.13.1.117"/>
           <arg name="frame_id" value="rear_center/radar_link"/>
+          <arg name="object_frame" value="base_link"/>
 
           <arg name="sensor_model" value="ARS548"/>
           <arg name="host_ip" value="10.13.1.166"/>
@@ -110,6 +114,7 @@
 
           <arg name="sensor_ip" value="10.13.1.118"/>
           <arg name="frame_id" value="rear_left/radar_link"/>
+          <arg name="object_frame" value="base_link"/>
 
           <arg name="sensor_model" value="ARS548"/>
           <arg name="host_ip" value="10.13.1.166"/>
@@ -132,6 +137,7 @@
 
           <arg name="sensor_ip" value="10.13.1.119"/>
           <arg name="frame_id" value="rear_right/radar_link"/>
+          <arg name="object_frame" value="base_link"/>
 
           <arg name="sensor_model" value="ARS548"/>
           <arg name="host_ip" value="10.13.1.166"/>

From 56f77a5ecb02a1838ace59733e8b07a5de4e7f26 Mon Sep 17 00:00:00 2001
From: kminoda <44218668+kminoda@users.noreply.github.com>
Date: Fri, 15 Mar 2024 11:54:32 +0900
Subject: [PATCH 29/41] feat: add ptp_switch_type to support latest nebula at
 2024/03/15 (#222)

Signed-off-by: j4tfwm6z <j4tfwm6z@tier4.jp>
Co-authored-by: j4tfwm6z <j4tfwm6z@tier4.jp>
---
 aip_xx1_launch/launch/sensing.launch.xml                    | 4 ++--
 common_sensor_launch/launch/hesai_OT128.launch.xml          | 2 ++
 common_sensor_launch/launch/hesai_XT32.launch.xml           | 1 +
 common_sensor_launch/launch/nebula_node_container.launch.py | 4 ++++
 4 files changed, 9 insertions(+), 2 deletions(-)

diff --git a/aip_xx1_launch/launch/sensing.launch.xml b/aip_xx1_launch/launch/sensing.launch.xml
index ba6b935c..e8aa4186 100644
--- a/aip_xx1_launch/launch/sensing.launch.xml
+++ b/aip_xx1_launch/launch/sensing.launch.xml
@@ -33,9 +33,9 @@
     </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="$(find-pkg-share vehicle_velocity_converter)/launch/vehicle_velocity_converter.launch.xml">
diff --git a/common_sensor_launch/launch/hesai_OT128.launch.xml b/common_sensor_launch/launch/hesai_OT128.launch.xml
index 63b755a1..7d4713fd 100644
--- a/common_sensor_launch/launch/hesai_OT128.launch.xml
+++ b/common_sensor_launch/launch/hesai_OT128.launch.xml
@@ -34,6 +34,8 @@
     <arg name="container_name" value="$(var container_name)"/>
     <arg name="ptp_profile" value="802.1as"/>
     <arg name="ptp_transport_type" value="L2"/>
+    <arg name="ptp_switch_type" value="NON_TSN"/>
+    <arg name="ptp_domain" value="1"/>
     <arg name="setup_sensor" value="false"/>
   </include>
 </launch>
diff --git a/common_sensor_launch/launch/hesai_XT32.launch.xml b/common_sensor_launch/launch/hesai_XT32.launch.xml
index a1a50dbc..c6ea9b64 100644
--- a/common_sensor_launch/launch/hesai_XT32.launch.xml
+++ b/common_sensor_launch/launch/hesai_XT32.launch.xml
@@ -33,6 +33,7 @@
     <arg name="use_intra_process" value="true"/>
     <arg name="use_multithread" value="true"/>
     <arg name="ptp_profile" value="1588v2"/>
+    <arg name="ptp_switch_type" value="TSN"/>
     <arg name="ptp_transport_type" value="UDP"/>
     <arg name="setup_sensor" value="true"/>
     <arg name="retry_hw" value="true"/>
diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py
index 9047cf18..7b6ee0c2 100644
--- a/common_sensor_launch/launch/nebula_node_container.launch.py
+++ b/common_sensor_launch/launch/nebula_node_container.launch.py
@@ -276,6 +276,8 @@ def create_parameter_dict(*args):
                     "setup_sensor",
                     "ptp_profile",
                     "ptp_transport_type",
+                    "ptp_switch_type",
+                    "ptp_domain",
                     "retry_hw",
                 ),
             }
@@ -329,6 +331,8 @@ def add_launch_arg(name: str, default_value=None, description=None):
     add_launch_arg("container_name", "nebula_node_container")
     add_launch_arg("ptp_profile", "1588v2")
     add_launch_arg("ptp_transport_type", "L2")
+    add_launch_arg("ptp_switch_type", "TSN")
+    add_launch_arg("ptp_domain", "0")
     add_launch_arg("output_as_sensor_frame", "True", "output final pointcloud in sensor frame")
     add_launch_arg("diag_span", "1000", "")
     add_launch_arg("delay_monitor_ms", "2000", "")

From 8ee46d4f3fd8cfaeec007be075f90bd1b857e3ee Mon Sep 17 00:00:00 2001
From: yoshiri <yoshiyoshidetteiu@gmail.com>
Date: Thu, 21 Mar 2024 13:06:05 +0900
Subject: [PATCH 30/41] feat: add radar feature

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
---
 .../radar_simple_object_merger.param.yaml     |  6 ++
 aip_xx1_launch/launch/radar.launch.xml        | 73 +++++++++++++++++--
 2 files changed, 73 insertions(+), 6 deletions(-)
 create mode 100644 aip_xx1_launch/config/radar_simple_object_merger.param.yaml

diff --git a/aip_xx1_launch/config/radar_simple_object_merger.param.yaml b/aip_xx1_launch/config/radar_simple_object_merger.param.yaml
new file mode 100644
index 00000000..a817e0b7
--- /dev/null
+++ b/aip_xx1_launch/config/radar_simple_object_merger.param.yaml
@@ -0,0 +1,6 @@
+/**:
+  ros__parameters:
+    update_rate_hz: 20.0
+    new_frame_id: "base_link"
+    timeout_threshold: 1.0
+    input_topics: ["/sensing/radar/front_center/detected_objects", "/sensing/radar/front_left/detected_objects", "/sensing/radar/rear_left/detected_objects", "/sensing/radar/rear_center/detected_objects", "/sensing/radar/rear_right/detected_objects", "/sensing/radar/front_right/detected_objects"]
diff --git a/aip_xx1_launch/launch/radar.launch.xml b/aip_xx1_launch/launch/radar.launch.xml
index 4005c41b..aba667d9 100644
--- a/aip_xx1_launch/launch/radar.launch.xml
+++ b/aip_xx1_launch/launch/radar.launch.xml
@@ -4,6 +4,7 @@
   <let name="odometry_topic" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
   <let name="acceleration_topic" value="/localization/acceleration"/>
   <let name="steering_angle_topic" value="/vehicle/status/steering_status_scalar"/>
+  <arg name="radar_tracks_msgs_converter_param_path" default="$(find-pkg-share common_sensor_launch)/config/radar_tracks_msgs_converter.param.yaml"/>
 
   <group>
     <push-ros-namespace namespace="radar"/>
@@ -14,7 +15,7 @@
 
     <group>
       <push-ros-namespace namespace="front_center"/>
-        <include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml">
+        <include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml" if="$(var launch_driver)">
 
           <arg name="odometry_topic" value="$(var odometry_topic)"/>
           <arg name="acceleration_topic" value="$(var acceleration_topic)"/>
@@ -33,11 +34,20 @@
 
           <arg name="new_plug_orientation" value="0"/>
       </include>
+        
+      <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
+        <arg name="input/radar_objects" value="objects_raw"/>
+        <arg name="input/odometry" value="$(var odometry_topic)"/>
+        <arg name="output/radar_detected_objects" value="detected_objects"/>
+        <arg name="output/radar_tracked_objects" value="tracked_objects"/>
+        <arg name="use_twist_compensation" value="false"/>
+        <arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
+      </include>
     </group>
 
     <group>
       <push-ros-namespace namespace="front_left"/>
-        <include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml">
+        <include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml" if="$(var launch_driver)">
 
           <arg name="odometry_topic" value="$(var odometry_topic)"/>
           <arg name="acceleration_topic" value="$(var acceleration_topic)"/>
@@ -56,11 +66,20 @@
 
           <arg name="new_plug_orientation" value="0"/>
       </include>
+
+      <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
+        <arg name="input/radar_objects" value="objects_raw"/>
+        <arg name="input/odometry" value="$(var odometry_topic)"/>
+        <arg name="output/radar_detected_objects" value="detected_objects"/>
+        <arg name="output/radar_tracked_objects" value="tracked_objects"/>
+        <arg name="use_twist_compensation" value="false"/>
+        <arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
+      </include>
     </group>
 
     <group>
       <push-ros-namespace namespace="front_right"/>
-        <include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml">
+        <include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml" if="$(var launch_driver)">
 
           <arg name="odometry_topic" value="$(var odometry_topic)"/>
           <arg name="acceleration_topic" value="$(var acceleration_topic)"/>
@@ -79,11 +98,20 @@
 
           <arg name="new_plug_orientation" value="0"/>
       </include>
+
+      <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
+        <arg name="input/radar_objects" value="objects_raw"/>
+        <arg name="input/odometry" value="$(var odometry_topic)"/>
+        <arg name="output/radar_detected_objects" value="detected_objects"/>
+        <arg name="output/radar_tracked_objects" value="tracked_objects"/>
+        <arg name="use_twist_compensation" value="false"/>
+        <arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
+      </include>      
     </group>
 
     <group>
       <push-ros-namespace namespace="rear_center"/>
-        <include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml">
+        <include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml" if="$(var launch_driver)">
 
           <arg name="odometry_topic" value="$(var odometry_topic)"/>
           <arg name="acceleration_topic" value="$(var acceleration_topic)"/>
@@ -102,11 +130,20 @@
 
           <arg name="new_plug_orientation" value="0"/>
       </include>
+
+      <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
+        <arg name="input/radar_objects" value="objects_raw"/>
+        <arg name="input/odometry" value="$(var odometry_topic)"/>
+        <arg name="output/radar_detected_objects" value="detected_objects"/>
+        <arg name="output/radar_tracked_objects" value="tracked_objects"/>
+        <arg name="use_twist_compensation" value="false"/>
+        <arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
+      </include>      
     </group>
 
     <group>
       <push-ros-namespace namespace="rear_left"/>
-        <include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml">
+        <include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml" if="$(var launch_driver)">
 
           <arg name="odometry_topic" value="$(var odometry_topic)"/>
           <arg name="acceleration_topic" value="$(var acceleration_topic)"/>
@@ -125,11 +162,20 @@
 
           <arg name="new_plug_orientation" value="0"/>
       </include>
+
+      <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
+        <arg name="input/radar_objects" value="objects_raw"/>
+        <arg name="input/odometry" value="$(var odometry_topic)"/>
+        <arg name="output/radar_detected_objects" value="detected_objects"/>
+        <arg name="output/radar_tracked_objects" value="tracked_objects"/>
+        <arg name="use_twist_compensation" value="false"/>
+        <arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
+      </include>      
     </group>
 
     <group>
       <push-ros-namespace namespace="rear_right"/>
-        <include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml">
+        <include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml" if="$(var launch_driver)">
 
           <arg name="odometry_topic" value="$(var odometry_topic)"/>
           <arg name="acceleration_topic" value="$(var acceleration_topic)"/>
@@ -148,6 +194,21 @@
 
           <arg name="new_plug_orientation" value="0"/>
       </include>
+
+      <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
+        <arg name="input/radar_objects" value="objects_raw"/>
+        <arg name="input/odometry" value="$(var odometry_topic)"/>
+        <arg name="output/radar_detected_objects" value="detected_objects"/>
+        <arg name="output/radar_tracked_objects" value="tracked_objects"/>
+        <arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
+      </include>      
     </group>
+
+    <!-- merge radar objects -->
+    <let name="merger_param_path" value="$(find-pkg-share aip_xx1_launch)/config/radar_simple_object_merger.param.yaml"/>
+    <node pkg="simple_object_merger" exec="simple_object_merger_node" name="simple_object_merger" output="screen">  
+      <remap from="~/output/objects" to="detected_objects"/>
+      <param from="$(var merger_param_path)"/>
+    </node>
   </group>
 </launch>

From 0680405725118bd8835e3528cce6c173cc0216aa Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Thu, 21 Mar 2024 20:14:39 +0900
Subject: [PATCH 31/41] fix: revert commenting out of radar.launch.xml

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 aip_xx1_launch/launch/sensing.launch.xml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/aip_xx1_launch/launch/sensing.launch.xml b/aip_xx1_launch/launch/sensing.launch.xml
index e8aa4186..ba6b935c 100644
--- a/aip_xx1_launch/launch/sensing.launch.xml
+++ b/aip_xx1_launch/launch/sensing.launch.xml
@@ -33,9 +33,9 @@
     </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">

From 53e0b0f70f6b0b00b8b1cb382f94f328031c7c82 Mon Sep 17 00:00:00 2001
From: Yuxuan Liu <uken.ryu.2@tier4.jp>
Date: Mon, 17 Jun 2024 16:40:43 +0900
Subject: [PATCH 32/41] add new folders

Signed-off-by: Yuxuan Liu <uken.ryu.2@tier4.jp>
---
 aip_xx1_gen2_launch/CMakeLists.txt            |  16 ++
 .../sensor_kit.param.yaml                     | 109 +++++++++
 .../sensor_kit.param.yaml                     |  30 +++
 .../radar_simple_object_merger.param.yaml     |   6 +
 .../data/traffic_light_camera.yaml            |  20 ++
 aip_xx1_gen2_launch/launch/camera.launch.xml  |  19 ++
 aip_xx1_gen2_launch/launch/gnss.launch.xml    |  41 ++++
 aip_xx1_gen2_launch/launch/imu.launch.xml     |  39 ++++
 aip_xx1_gen2_launch/launch/lidar.launch.xml   | 106 +++++++++
 .../launch/pointcloud_preprocessor.launch.py  | 118 ++++++++++
 aip_xx1_gen2_launch/launch/radar.launch.xml   | 214 ++++++++++++++++++
 aip_xx1_gen2_launch/launch/sensing.launch.xml |  49 ++++
 aip_xx1_gen2_launch/package.xml               |  32 +++
 aip_xx1_launch/launch/imu.launch.xml          |  24 +-
 aip_xx1_launch/launch/lidar.launch.xml        | 112 +++++----
 .../launch/pointcloud_preprocessor.launch.py  |  33 +--
 aip_xx1_launch/launch/radar.launch.xml        | 211 +----------------
 17 files changed, 892 insertions(+), 287 deletions(-)
 create mode 100644 aip_xx1_gen2_launch/CMakeLists.txt
 create mode 100644 aip_xx1_gen2_launch/config/diagnostic_aggregator/sensor_kit.param.yaml
 create mode 100644 aip_xx1_gen2_launch/config/dummy_diag_publisher/sensor_kit.param.yaml
 create mode 100644 aip_xx1_gen2_launch/config/radar_simple_object_merger.param.yaml
 create mode 100644 aip_xx1_gen2_launch/data/traffic_light_camera.yaml
 create mode 100644 aip_xx1_gen2_launch/launch/camera.launch.xml
 create mode 100644 aip_xx1_gen2_launch/launch/gnss.launch.xml
 create mode 100644 aip_xx1_gen2_launch/launch/imu.launch.xml
 create mode 100644 aip_xx1_gen2_launch/launch/lidar.launch.xml
 create mode 100644 aip_xx1_gen2_launch/launch/pointcloud_preprocessor.launch.py
 create mode 100644 aip_xx1_gen2_launch/launch/radar.launch.xml
 create mode 100644 aip_xx1_gen2_launch/launch/sensing.launch.xml
 create mode 100644 aip_xx1_gen2_launch/package.xml

diff --git a/aip_xx1_gen2_launch/CMakeLists.txt b/aip_xx1_gen2_launch/CMakeLists.txt
new file mode 100644
index 00000000..7f8d9f60
--- /dev/null
+++ b/aip_xx1_gen2_launch/CMakeLists.txt
@@ -0,0 +1,16 @@
+cmake_minimum_required(VERSION 3.5)
+project(aip_xx1_gen2_launch)
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_auto_package(INSTALL_TO_SHARE
+  launch
+  data
+  config
+)
diff --git a/aip_xx1_gen2_launch/config/diagnostic_aggregator/sensor_kit.param.yaml b/aip_xx1_gen2_launch/config/diagnostic_aggregator/sensor_kit.param.yaml
new file mode 100644
index 00000000..ab32e0fe
--- /dev/null
+++ b/aip_xx1_gen2_launch/config/diagnostic_aggregator/sensor_kit.param.yaml
@@ -0,0 +1,109 @@
+/**:
+  ros__parameters:
+    sensing:
+      type: diagnostic_aggregator/AnalyzerGroup
+      path: sensing
+      analyzers:
+        node_alive_monitoring:
+          type: diagnostic_aggregator/AnalyzerGroup
+          path: node_alive_monitoring
+          analyzers:
+            topic_status:
+              type: diagnostic_aggregator/GenericAnalyzer
+              path: topic_status
+              contains: [": sensing_topic_status"]
+              timeout: 1.0
+
+        lidar:
+          type: diagnostic_aggregator/AnalyzerGroup
+          path: lidar
+          analyzers:
+            velodyne:
+              type: diagnostic_aggregator/AnalyzerGroup
+              path: velodyne
+              analyzers:
+                health_monitoring:
+                  type: diagnostic_aggregator/AnalyzerGroup
+                  path: health_monitoring
+                  analyzers:
+                    connection:
+                      type: diagnostic_aggregator/GenericAnalyzer
+                      path: connection
+                      contains: [": velodyne_connection"]
+                      timeout: 3.0
+
+                    temperature:
+                      type: diagnostic_aggregator/GenericAnalyzer
+                      path: temperature
+                      contains: [": velodyne_temperature"]
+                      timeout: 3.0
+
+                    rpm:
+                      type: diagnostic_aggregator/GenericAnalyzer
+                      path: rpm
+                      contains: [": velodyne_rpm"]
+                      timeout: 3.0
+
+        gnss:
+          type: diagnostic_aggregator/AnalyzerGroup
+          path: gnss
+          analyzers:
+            health_monitoring:
+              type: diagnostic_aggregator/AnalyzerGroup
+              path: health_monitoring
+              analyzers:
+                connection:
+                  type: diagnostic_aggregator/GenericAnalyzer
+                  path: connection
+                  contains: [": gnss_connection"]
+                  timeout: 3.0
+
+                data:
+                  type: diagnostic_aggregator/GenericAnalyzer
+                  path: data
+                  contains: [": gnss_data"]
+                  timeout: 3.0
+
+                antenna:
+                  type: diagnostic_aggregator/GenericAnalyzer
+                  path: antenna
+                  contains: [": gnss_antenna"]
+                  timeout: 3.0
+
+                tx_usage:
+                  type: diagnostic_aggregator/GenericAnalyzer
+                  path: tx_usage
+                  contains: [": gnss_tx_usage"]
+                  timeout: 3.0
+
+                spoofing:
+                  type: diagnostic_aggregator/GenericAnalyzer
+                  path: spoofing
+                  contains: [": gnss_spoofing"]
+                  timeout: 3.0
+
+                jamming:
+                  type: diagnostic_aggregator/GenericAnalyzer
+                  path: jamming
+                  contains: [": gnss_jamming"]
+                  timeout: 3.0
+
+                fix_topic_status:
+                  type: diagnostic_aggregator/GenericAnalyzer
+                  path: fix_topic_status
+                  contains: [": fix topic status"]
+                  timeout: 3.0
+
+        imu:
+          type: diagnostic_aggregator/AnalyzerGroup
+          path: imu
+          analyzers:
+            bias_monitoring:
+              type: diagnostic_aggregator/AnalyzerGroup
+              path: bias_monitoring
+              analyzers:
+                gyro_bias_validator:
+                  type: diagnostic_aggregator/GenericAnalyzer
+                  path: gyro_bias_validator
+                  contains: [": gyro_bias_validator"]
+                  timeout: 1.0
diff --git a/aip_xx1_gen2_launch/config/dummy_diag_publisher/sensor_kit.param.yaml b/aip_xx1_gen2_launch/config/dummy_diag_publisher/sensor_kit.param.yaml
new file mode 100644
index 00000000..80cc7944
--- /dev/null
+++ b/aip_xx1_gen2_launch/config/dummy_diag_publisher/sensor_kit.param.yaml
@@ -0,0 +1,30 @@
+# Description:
+#   name: diag name
+#   is_active: Force update or not
+#   status: diag status set by dummy diag publisher "OK, Warn, Error, Stale"
+#
+# Note:
+#
+# default values are:
+#   is_active: "true"
+#   status: "OK"
+---
+/**:
+  ros__parameters:
+    required_diags:
+      # gnss
+      gnss_connection: default
+      gnss_data: default
+      gnss_antenna: default
+      gnss_tx_usage: default
+      gnss_spoofing: default
+      gnss_jamming: default
+      fix topic status: default
+
+      # velodyne
+      velodyne_connection: default
+      velodyne_temperature: default
+      velodyne_rpm: default
+
+      # imu
+      gyro_bias_estimator: default
diff --git a/aip_xx1_gen2_launch/config/radar_simple_object_merger.param.yaml b/aip_xx1_gen2_launch/config/radar_simple_object_merger.param.yaml
new file mode 100644
index 00000000..a817e0b7
--- /dev/null
+++ b/aip_xx1_gen2_launch/config/radar_simple_object_merger.param.yaml
@@ -0,0 +1,6 @@
+/**:
+  ros__parameters:
+    update_rate_hz: 20.0
+    new_frame_id: "base_link"
+    timeout_threshold: 1.0
+    input_topics: ["/sensing/radar/front_center/detected_objects", "/sensing/radar/front_left/detected_objects", "/sensing/radar/rear_left/detected_objects", "/sensing/radar/rear_center/detected_objects", "/sensing/radar/rear_right/detected_objects", "/sensing/radar/front_right/detected_objects"]
diff --git a/aip_xx1_gen2_launch/data/traffic_light_camera.yaml b/aip_xx1_gen2_launch/data/traffic_light_camera.yaml
new file mode 100644
index 00000000..458ad17c
--- /dev/null
+++ b/aip_xx1_gen2_launch/data/traffic_light_camera.yaml
@@ -0,0 +1,20 @@
+image_width: 1920
+image_height: 1080
+camera_name: traffic_light/camera
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [2410.755261, 0.000000, 922.621401, 0.000000, 2403.573140, 534.752500, 0.000000, 0.000000, 1.000000]
+distortion_model: plumb_bob
+distortion_coefficients:
+  rows: 1
+  cols: 5
+  data: [-0.126600, 0.152594, 0.002432, -0.001244, 0.000000]
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [2370.254883, 0.000000, 920.136018, 0.000000, 0.000000, 2388.885254, 535.599668, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
diff --git a/aip_xx1_gen2_launch/launch/camera.launch.xml b/aip_xx1_gen2_launch/launch/camera.launch.xml
new file mode 100644
index 00000000..041c70c8
--- /dev/null
+++ b/aip_xx1_gen2_launch/launch/camera.launch.xml
@@ -0,0 +1,19 @@
+<launch>
+
+  <arg name="launch_driver" default="true" />
+  <arg name="camera_type" default="left" />
+
+  <group>
+    <push-ros-namespace namespace="camera"/>
+    <group>
+      <push-ros-namespace namespace="traffic_light"/>
+
+      <!-- (usb_cam_node is assumed to have launched on logging PC) -->
+      <node pkg="topic_tools" exec="relay" name="tl_camera_info_relay" output="log"
+	    args="$(var camera_type)/camera_info camera_info"/>
+
+      <node pkg="topic_tools" exec="relay" name="tl_compressed_image_relay" output="log"
+	    args="$(var camera_type)/image_raw/compressed image_raw/compressed"/>
+    </group>
+  </group>
+</launch>
diff --git a/aip_xx1_gen2_launch/launch/gnss.launch.xml b/aip_xx1_gen2_launch/launch/gnss.launch.xml
new file mode 100644
index 00000000..37ad6bde
--- /dev/null
+++ b/aip_xx1_gen2_launch/launch/gnss.launch.xml
@@ -0,0 +1,41 @@
+<launch>
+
+  <arg name="launch_driver" default="true" />
+  <arg name="gnss_receiver" default="ublox" description="ublox(default) or septentrio"/>
+
+  <group>
+    <push-ros-namespace namespace="gnss"/>
+
+    <!-- Switch topic name -->
+    <let name="navsatfix_topic_name" value="ublox/nav_sat_fix" if="$(eval &quot;'$(var gnss_receiver)'=='ublox'&quot;)" />
+    <let name="navpvt_topic_name" value="ublox/navpvt" if="$(eval &quot;'$(var gnss_receiver)'=='ublox'&quot;)" />
+    <let name="navsatfix_topic_name" value="septentrio/nav_sat_fix" if="$(eval &quot;'$(var gnss_receiver)'=='septentrio'&quot;)"/>
+    <let name="navpvt_topic_name" value="septentrio/navpvt/unused" if="$(eval &quot;'$(var gnss_receiver)'=='septentrio'&quot;)"/>
+
+    <!-- Ublox Driver -->
+    <group if="$(eval &quot;'$(var gnss_receiver)'=='ublox'&quot;)">
+      <node pkg="ublox_gps" name="ublox" exec="ublox_gps_node" if="$(var launch_driver)" respawn="true" respawn_delay="10.0">
+        <remap from="~/fix" to="~/nav_sat_fix" />
+        <param from="$(find-pkg-share ublox_gps)/config/c94_f9p_rover.yaml"/>
+      </node>
+    </group>
+
+    <!-- Septentrio GNSS Driver -->
+    <group if="$(eval &quot;'$(var launch_driver)' and '$(var gnss_receiver)'=='septentrio'&quot;)">
+      <include file="$(find-pkg-share septentrio_gnss_driver)/launch/mosaic_x5_rover.launch.xml" />
+    </group>
+
+    <!-- NavSatFix to MGRS Pose -->
+    <include file="$(find-pkg-share gnss_poser)/launch/gnss_poser.launch.xml">
+      <arg name="input_topic_fix" value="$(var navsatfix_topic_name)" />
+      <arg name="input_topic_navpvt" value="$(var navpvt_topic_name)" />
+
+      <arg name="output_topic_gnss_pose" value="pose" />
+      <arg name="output_topic_gnss_pose_cov" value="pose_with_covariance" />
+      <arg name="output_topic_gnss_fixed" value="fixed" />
+
+      <arg name="use_ublox_receiver" value="true" />
+    </include>
+
+  </group>
+</launch>
diff --git a/aip_xx1_gen2_launch/launch/imu.launch.xml b/aip_xx1_gen2_launch/launch/imu.launch.xml
new file mode 100644
index 00000000..7f1f0337
--- /dev/null
+++ b/aip_xx1_gen2_launch/launch/imu.launch.xml
@@ -0,0 +1,39 @@
+<launch>
+
+  <group>
+    <push-ros-namespace namespace="imu"/>
+
+    <arg name="launch_driver" default="true" />
+    <arg name="interface" default="canImu"/>
+    <arg name="receiver_interval_sec" default="0.01"/>
+    <arg name ="vehicle_id" default="$(env VEHICLE_ID default)" />
+
+    <group>
+      <push-ros-namespace namespace="tamagawa"/>
+      <include file="$(find-pkg-share ros2_socketcan)/launch/socket_can_receiver.launch.py">
+        <arg name="interface" value="$(var interface)"/>
+        <arg name="interval_sec" value="$(var receiver_interval_sec)"/>
+      </include>
+      <node pkg="tamagawa_imu_driver" name="tag_can_driver" exec="tag_can_driver" if="$(var launch_driver)">
+        <remap from="/can/imu" to="from_can_bus"/>
+        <remap from="imu/data_raw" to="imu_raw"/>
+        <param name="imu_frame_id" value="tamagawa/imu_link"/>
+      </node>
+    </group>
+
+    <arg name="imu_raw_name" default="tamagawa/imu_raw"/>
+    <arg name="imu_corrector_param_file" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_xx1/imu_corrector.param.yaml"/>
+    <include file="$(find-pkg-share imu_corrector)/launch/imu_corrector.launch.xml">
+      <arg name="input_topic" value="$(var imu_raw_name)"/>
+      <arg name="output_topic" value="imu_data"/>
+      <arg name="param_file" value="$(var imu_corrector_param_file)"/>
+    </include>
+
+    <include file="$(find-pkg-share imu_corrector)/launch/gyro_bias_estimator.launch.xml">
+      <arg name="input_imu_raw" value="$(var imu_raw_name)"/>
+      <arg name="input_odom" value="/localization/kinematic_state"/>
+      <arg name="imu_corrector_param_file" value="$(var imu_corrector_param_file)"/>
+    </include>
+  </group>
+
+</launch>
diff --git a/aip_xx1_gen2_launch/launch/lidar.launch.xml b/aip_xx1_gen2_launch/launch/lidar.launch.xml
new file mode 100644
index 00000000..7f77ad2d
--- /dev/null
+++ b/aip_xx1_gen2_launch/launch/lidar.launch.xml
@@ -0,0 +1,106 @@
+<launch>
+
+  <arg name="launch_driver" default="true"/>
+  <arg name="host_ip" default="192.168.1.10"/>
+  <arg name="use_concat_filter" default="true"/>
+  <arg name ="vehicle_id" default="$(env VEHICLE_ID default)"/>
+  <arg name="vehicle_mirror_param_file"/>
+  <arg name="use_pointcloud_container" default="false" description="launch pointcloud container"/>
+  <arg name="pointcloud_container_name" default="pointcloud_container"/>
+
+  <group>
+    <push-ros-namespace namespace="lidar"/>
+
+    <group>
+      <push-ros-namespace namespace="top"/>
+      <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_OT128.launch.xml">
+        <arg name="max_range" value="300.0"/>
+        <arg name="sensor_frame" value="hesai_top"/>
+        <arg name="sensor_ip" value="192.168.1.201"/>
+        <arg name="host_ip" value="$(var host_ip)"/>
+        <arg name="data_port" value="2368"/>
+        <arg name="scan_phase" value="160.0"/>
+        <arg name="launch_driver" value="$(var launch_driver)"/>
+        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
+        <arg name="container_name" value="pointcloud_container"/>
+      </include>
+    </group>
+
+    <group>
+      <push-ros-namespace namespace="front_left"/>
+      <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launch.xml">
+        <arg name="max_range" value="300.0"/>
+        <arg name="sensor_frame" value="hesai_front_left"/>
+        <arg name="sensor_ip" value="192.168.1.21"/>
+        <arg name="host_ip" value="$(var host_ip)"/>
+        <arg name="data_port" value="2369"/>
+        <arg name="scan_phase" value="50.0"/>
+        <arg name="cloud_min_angle" value="50"/>
+        <arg name="cloud_max_angle" value="320"/>
+        <arg name="launch_driver" value="$(var launch_driver)"/>
+        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
+        <arg name="container_name" value="pointcloud_container"/>
+      </include>
+    </group>
+
+    <group>
+      <push-ros-namespace namespace="front_right"/>
+      <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launch.xml">
+        <arg name="max_range" value="300.0"/>
+        <arg name="sensor_frame" value="hesai_front_right"/>
+        <arg name="sensor_ip" value="192.168.1.22"/>
+        <arg name="host_ip" value="$(var host_ip)"/>
+        <arg name="data_port" value="2370"/>
+        <arg name="scan_phase" value="310.0"/>
+        <arg name="cloud_min_angle" value="40"/>
+        <arg name="cloud_max_angle" value="310"/>
+        <arg name="launch_driver" value="$(var launch_driver)"/>
+        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
+        <arg name="container_name" value="pointcloud_container"/>
+      </include>
+    </group>
+
+    <group>
+      <push-ros-namespace namespace="side_left"/>
+      <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launch.xml">
+        <arg name="max_range" value="10.0"/>
+        <arg name="sensor_frame" value="hesai_side_left"/>
+        <arg name="sensor_ip" value="192.168.1.23"/>
+        <arg name="host_ip" value="$(var host_ip)"/>
+        <arg name="data_port" value="2371"/>
+        <arg name="scan_phase" value="90.0"/>
+        <arg name="cloud_min_angle" value="90"/>
+        <arg name="cloud_max_angle" value="270"/>
+        <arg name="launch_driver" value="$(var launch_driver)"/>
+        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
+        <arg name="container_name" value="pointcloud_container"/>
+      </include>
+    </group>
+
+    <group>
+      <push-ros-namespace namespace="side_right"/>
+      <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launch.xml">
+        <arg name="max_range" value="10.0"/>
+        <arg name="sensor_frame" value="hesai_side_right"/>
+        <arg name="sensor_ip" value="192.168.1.24"/>
+        <arg name="host_ip" value="$(var host_ip)"/>
+        <arg name="data_port" value="2372"/>
+        <arg name="scan_phase" value="270.0"/>
+        <arg name="cloud_min_angle" value="90"/>
+        <arg name="cloud_max_angle" value="270"/>
+        <arg name="launch_driver" value="$(var launch_driver)"/>
+        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
+        <arg name="container_name" value="pointcloud_container"/>
+      </include>
+    </group>
+
+    <include file="$(find-pkg-share aip_xx1_launch)/launch/pointcloud_preprocessor.launch.py">
+      <arg name="base_frame" value="base_link"/>
+      <arg name="use_intra_process" value="true"/>
+      <arg name="use_multithread" value="true"/>
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+    </include>
+
+  </group>
+</launch>
diff --git a/aip_xx1_gen2_launch/launch/pointcloud_preprocessor.launch.py b/aip_xx1_gen2_launch/launch/pointcloud_preprocessor.launch.py
new file mode 100644
index 00000000..4aa9736c
--- /dev/null
+++ b/aip_xx1_gen2_launch/launch/pointcloud_preprocessor.launch.py
@@ -0,0 +1,118 @@
+# Copyright 2020 Tier IV, Inc. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+
+import launch
+from launch.actions import DeclareLaunchArgument
+from launch.actions import OpaqueFunction
+from launch.actions import SetLaunchConfiguration
+from launch.conditions import IfCondition
+from launch.conditions import UnlessCondition
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.actions import LoadComposableNodes
+from launch_ros.descriptions import ComposableNode
+
+
+def launch_setup(context, *args, **kwargs):
+    # set concat filter as a component
+    concat_component = ComposableNode(
+        package="pointcloud_preprocessor",
+        plugin="pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
+        name="concatenate_data",
+        remappings=[
+            ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
+            ("output", "concatenated/pointcloud"),
+        ],
+        parameters=[
+            {
+                "input_topics": [
+                    "/sensing/lidar/top/pointcloud_before_sync",
+                    "/sensing/lidar/side_left/pointcloud_before_sync",
+                    "/sensing/lidar/side_right/pointcloud_before_sync",
+                    "/sensing/lidar/front_left/pointcloud_before_sync",
+                    "/sensing/lidar/front_right/pointcloud_before_sync",
+                ],
+                "output_frame": LaunchConfiguration("base_frame"),
+                "input_offset": [
+                    0.035,
+                    0.025,
+                    0.025,
+                    0.025,
+                    0.025,
+                ],  # each sensor will wait 60, 70, 70, 70ms
+                "timeout_sec": 0.095,  # set shorter than 100ms
+                "input_twist_topic_type": "twist",
+                "publish_synchronized_pointcloud": True,
+            }
+        ],
+        extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
+    )
+
+    # set container to run all required components in the same process
+    container = ComposableNodeContainer(
+        name=LaunchConfiguration("individual_container_name"),
+        namespace="",
+        package="rclcpp_components",
+        executable=LaunchConfiguration("container_executable"),
+        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
+        output="screen",
+    )
+
+    target_container = (
+        container
+        if UnlessCondition(LaunchConfiguration("use_pointcloud_container")).evaluate(context)
+        else LaunchConfiguration("pointcloud_container_name")
+    )
+
+    # load concat or passthrough filter
+    concat_loader = LoadComposableNodes(
+        composable_node_descriptions=[concat_component],
+        target_container=target_container,
+        condition=IfCondition(LaunchConfiguration("use_concat_filter")),
+    )
+
+    return [container, concat_loader]
+
+
+def generate_launch_description():
+    launch_arguments = []
+
+    def add_launch_arg(name: str, default_value=None):
+        launch_arguments.append(DeclareLaunchArgument(name, default_value=default_value))
+
+    add_launch_arg("base_frame", "base_link")
+    add_launch_arg("use_multithread", "False")
+    add_launch_arg("use_intra_process", "False")
+    add_launch_arg("use_pointcloud_container", "False")
+    add_launch_arg("pointcloud_container_name", "pointcloud_container")
+    add_launch_arg("individual_container_name", "concatenate_container")
+
+    set_container_executable = SetLaunchConfiguration(
+        "container_executable",
+        "component_container",
+        condition=UnlessCondition(LaunchConfiguration("use_multithread")),
+    )
+
+    set_container_mt_executable = SetLaunchConfiguration(
+        "container_executable",
+        "component_container_mt",
+        condition=IfCondition(LaunchConfiguration("use_multithread")),
+    )
+
+    return launch.LaunchDescription(
+        launch_arguments
+        + [set_container_executable, set_container_mt_executable]
+        + [OpaqueFunction(function=launch_setup)]
+    )
diff --git a/aip_xx1_gen2_launch/launch/radar.launch.xml b/aip_xx1_gen2_launch/launch/radar.launch.xml
new file mode 100644
index 00000000..aba667d9
--- /dev/null
+++ b/aip_xx1_gen2_launch/launch/radar.launch.xml
@@ -0,0 +1,214 @@
+<launch>
+  <arg name="launch_driver" default="true" description="do launch driver"/>
+
+  <let name="odometry_topic" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
+  <let name="acceleration_topic" value="/localization/acceleration"/>
+  <let name="steering_angle_topic" value="/vehicle/status/steering_status_scalar"/>
+  <arg name="radar_tracks_msgs_converter_param_path" default="$(find-pkg-share common_sensor_launch)/config/radar_tracks_msgs_converter.param.yaml"/>
+
+  <group>
+    <push-ros-namespace namespace="radar"/>
+
+    <!--node pkg="tf2_ros" exec="static_transform_publisher" name="tf_broadcaster" output="screen" args="$(var wheel_base) 0 0 0 0 0 base_link autosar"/-->
+    <node pkg="topic_tools" exec="transform" name="steer_angle_transform" output="screen" args="/vehicle/status/steering_status /vehicle/status/steering_status_scalar std_msgs/msg/Float32 'std_msgs.msg.Float32(data=m.steering_tire_angle)'  --import autoware_auto_vehicle_msgs std_msgs --wait-for-start"/>
+    <!-- ros2 run topic_tools transform /vehicle/status/steering_status /vehicle/status/steering_status_scalar std_msgs/msg/Float64 'std_msgs.msg.Float64(data=m.steering_tire_angle)'  \-\-import autoware_auto_vehicle_msgs std_msgs -->
+
+    <group>
+      <push-ros-namespace namespace="front_center"/>
+        <include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml" if="$(var launch_driver)">
+
+          <arg name="odometry_topic" value="$(var odometry_topic)"/>
+          <arg name="acceleration_topic" value="$(var acceleration_topic)"/>
+          <arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>
+
+          <arg name="sensor_ip" value="10.13.1.114"/>
+          <arg name="frame_id" value="front_center/radar_link"/>
+          <arg name="object_frame" value="base_link"/>
+
+          <arg name="sensor_model" value="ARS548"/>
+          <arg name="host_ip" value="10.13.1.166"/>
+          <arg name="multicast_ip" value="224.0.2.2"/>
+          <arg name="data_port" value="42102"/>
+          <arg name="configuration_host_port" value="42401"/>
+          <arg name="configuration_sensor_port" value="42101"/>
+
+          <arg name="new_plug_orientation" value="0"/>
+      </include>
+        
+      <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
+        <arg name="input/radar_objects" value="objects_raw"/>
+        <arg name="input/odometry" value="$(var odometry_topic)"/>
+        <arg name="output/radar_detected_objects" value="detected_objects"/>
+        <arg name="output/radar_tracked_objects" value="tracked_objects"/>
+        <arg name="use_twist_compensation" value="false"/>
+        <arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
+      </include>
+    </group>
+
+    <group>
+      <push-ros-namespace namespace="front_left"/>
+        <include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml" if="$(var launch_driver)">
+
+          <arg name="odometry_topic" value="$(var odometry_topic)"/>
+          <arg name="acceleration_topic" value="$(var acceleration_topic)"/>
+          <arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>
+
+          <arg name="sensor_ip" value="10.13.1.115"/>
+          <arg name="frame_id" value="front_left/radar_link"/>
+          <arg name="object_frame" value="front_left/radar_link"/>
+
+          <arg name="sensor_model" value="ARS548"/>
+          <arg name="host_ip" value="10.13.1.166"/>
+          <arg name="multicast_ip" value="224.0.2.2"/>
+          <arg name="data_port" value="42102"/>
+          <arg name="configuration_host_port" value="42401"/>
+          <arg name="configuration_sensor_port" value="42101"/>
+
+          <arg name="new_plug_orientation" value="0"/>
+      </include>
+
+      <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
+        <arg name="input/radar_objects" value="objects_raw"/>
+        <arg name="input/odometry" value="$(var odometry_topic)"/>
+        <arg name="output/radar_detected_objects" value="detected_objects"/>
+        <arg name="output/radar_tracked_objects" value="tracked_objects"/>
+        <arg name="use_twist_compensation" value="false"/>
+        <arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
+      </include>
+    </group>
+
+    <group>
+      <push-ros-namespace namespace="front_right"/>
+        <include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml" if="$(var launch_driver)">
+
+          <arg name="odometry_topic" value="$(var odometry_topic)"/>
+          <arg name="acceleration_topic" value="$(var acceleration_topic)"/>
+          <arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>
+
+          <arg name="sensor_ip" value="10.13.1.116"/>
+          <arg name="frame_id" value="front_right/radar_link"/>
+          <arg name="object_frame" value="front_right/radar_link"/>
+
+          <arg name="sensor_model" value="ARS548"/>
+          <arg name="host_ip" value="10.13.1.166"/>
+          <arg name="multicast_ip" value="224.0.2.2"/>
+          <arg name="data_port" value="42102"/>
+          <arg name="configuration_host_port" value="42401"/>
+          <arg name="configuration_sensor_port" value="42101"/>
+
+          <arg name="new_plug_orientation" value="0"/>
+      </include>
+
+      <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
+        <arg name="input/radar_objects" value="objects_raw"/>
+        <arg name="input/odometry" value="$(var odometry_topic)"/>
+        <arg name="output/radar_detected_objects" value="detected_objects"/>
+        <arg name="output/radar_tracked_objects" value="tracked_objects"/>
+        <arg name="use_twist_compensation" value="false"/>
+        <arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
+      </include>      
+    </group>
+
+    <group>
+      <push-ros-namespace namespace="rear_center"/>
+        <include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml" if="$(var launch_driver)">
+
+          <arg name="odometry_topic" value="$(var odometry_topic)"/>
+          <arg name="acceleration_topic" value="$(var acceleration_topic)"/>
+          <arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>
+
+          <arg name="sensor_ip" value="10.13.1.117"/>
+          <arg name="frame_id" value="rear_center/radar_link"/>
+          <arg name="object_frame" value="base_link"/>
+
+          <arg name="sensor_model" value="ARS548"/>
+          <arg name="host_ip" value="10.13.1.166"/>
+          <arg name="multicast_ip" value="224.0.2.2"/>
+          <arg name="data_port" value="42102"/>
+          <arg name="configuration_host_port" value="42401"/>
+          <arg name="configuration_sensor_port" value="42101"/>
+
+          <arg name="new_plug_orientation" value="0"/>
+      </include>
+
+      <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
+        <arg name="input/radar_objects" value="objects_raw"/>
+        <arg name="input/odometry" value="$(var odometry_topic)"/>
+        <arg name="output/radar_detected_objects" value="detected_objects"/>
+        <arg name="output/radar_tracked_objects" value="tracked_objects"/>
+        <arg name="use_twist_compensation" value="false"/>
+        <arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
+      </include>      
+    </group>
+
+    <group>
+      <push-ros-namespace namespace="rear_left"/>
+        <include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml" if="$(var launch_driver)">
+
+          <arg name="odometry_topic" value="$(var odometry_topic)"/>
+          <arg name="acceleration_topic" value="$(var acceleration_topic)"/>
+          <arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>
+
+          <arg name="sensor_ip" value="10.13.1.118"/>
+          <arg name="frame_id" value="rear_left/radar_link"/>
+          <arg name="object_frame" value="base_link"/>
+
+          <arg name="sensor_model" value="ARS548"/>
+          <arg name="host_ip" value="10.13.1.166"/>
+          <arg name="multicast_ip" value="224.0.2.2"/>
+          <arg name="data_port" value="42102"/>
+          <arg name="configuration_host_port" value="42401"/>
+          <arg name="configuration_sensor_port" value="42101"/>
+
+          <arg name="new_plug_orientation" value="0"/>
+      </include>
+
+      <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
+        <arg name="input/radar_objects" value="objects_raw"/>
+        <arg name="input/odometry" value="$(var odometry_topic)"/>
+        <arg name="output/radar_detected_objects" value="detected_objects"/>
+        <arg name="output/radar_tracked_objects" value="tracked_objects"/>
+        <arg name="use_twist_compensation" value="false"/>
+        <arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
+      </include>      
+    </group>
+
+    <group>
+      <push-ros-namespace namespace="rear_right"/>
+        <include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml" if="$(var launch_driver)">
+
+          <arg name="odometry_topic" value="$(var odometry_topic)"/>
+          <arg name="acceleration_topic" value="$(var acceleration_topic)"/>
+          <arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>
+
+          <arg name="sensor_ip" value="10.13.1.119"/>
+          <arg name="frame_id" value="rear_right/radar_link"/>
+          <arg name="object_frame" value="base_link"/>
+
+          <arg name="sensor_model" value="ARS548"/>
+          <arg name="host_ip" value="10.13.1.166"/>
+          <arg name="multicast_ip" value="224.0.2.2"/>
+          <arg name="data_port" value="42102"/>
+          <arg name="configuration_host_port" value="42401"/>
+          <arg name="configuration_sensor_port" value="42101"/>
+
+          <arg name="new_plug_orientation" value="0"/>
+      </include>
+
+      <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
+        <arg name="input/radar_objects" value="objects_raw"/>
+        <arg name="input/odometry" value="$(var odometry_topic)"/>
+        <arg name="output/radar_detected_objects" value="detected_objects"/>
+        <arg name="output/radar_tracked_objects" value="tracked_objects"/>
+        <arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
+      </include>      
+    </group>
+
+    <!-- merge radar objects -->
+    <let name="merger_param_path" value="$(find-pkg-share aip_xx1_launch)/config/radar_simple_object_merger.param.yaml"/>
+    <node pkg="simple_object_merger" exec="simple_object_merger_node" name="simple_object_merger" output="screen">  
+      <remap from="~/output/objects" to="detected_objects"/>
+      <param from="$(var merger_param_path)"/>
+    </node>
+  </group>
+</launch>
diff --git a/aip_xx1_gen2_launch/launch/sensing.launch.xml b/aip_xx1_gen2_launch/launch/sensing.launch.xml
new file mode 100644
index 00000000..ba6b935c
--- /dev/null
+++ b/aip_xx1_gen2_launch/launch/sensing.launch.xml
@@ -0,0 +1,49 @@
+<launch>
+
+  <arg name="launch_driver" default="true" description="do launch driver"/>
+  <arg name="vehicle_mirror_param_file" description="path to the file of vehicle mirror position yaml"/>
+  <arg name="perception_mode" default="camera_lidar_fusion" description="select perception mode. camera_lidar_fusion, lidar, camera"/>
+  <arg name="use_pointcloud_container" default="false" description="launch pointcloud container"/>
+  <arg name="pointcloud_container_name" default="pointcloud_container"/>
+  <arg name ="vehicle_id" default="$(env VEHICLE_ID default)" />
+
+  <group>
+
+    <!-- LiDAR Driver -->
+    <include file="$(find-pkg-share aip_xx1_launch)/launch/lidar.launch.xml">
+      <arg name="launch_driver" value="$(var launch_driver)" />
+      <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+    </include>
+
+    <!-- Camera Driver -->
+    <!-- <include file="$(find-pkg-share aip_xx1_launch)/launch/camera.launch.xml">
+      <arg name="launch_driver" value="$(var launch_driver)" />
+    </include> -->
+
+    <!-- IMU Driver -->
+    <include file="$(find-pkg-share aip_xx1_launch)/launch/imu.launch.xml">
+      <arg name="launch_driver" value="$(var launch_driver)" />
+    </include>
+
+    <!-- GNSS Driver -->
+    <include file="$(find-pkg-share aip_xx1_launch)/launch/gnss.launch.xml">
+      <arg name="launch_driver" value="$(var launch_driver)" />
+    </include>
+
+    <!-- Radar Driver -->
+    <include file="$(find-pkg-share aip_xx1_launch)/launch/radar.launch.xml">
+      <arg name="launch_driver" value="$(var launch_driver)" />
+    </include>
+
+    <!-- Vehicle twist -->
+    <include file="$(find-pkg-share vehicle_velocity_converter)/launch/vehicle_velocity_converter.launch.xml">
+      <arg name="input_vehicle_velocity_topic" value="/vehicle/status/velocity_status"/>
+      <arg name="output_twist_with_covariance" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
+      <arg name="config_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_xx1/vehicle_velocity_converter.param.yaml" />
+    </include>
+
+  </group>
+
+</launch>
diff --git a/aip_xx1_gen2_launch/package.xml b/aip_xx1_gen2_launch/package.xml
new file mode 100644
index 00000000..8f2f9df9
--- /dev/null
+++ b/aip_xx1_gen2_launch/package.xml
@@ -0,0 +1,32 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>aip_xx1_gen2_launch</name>
+  <version>0.1.0</version>
+  <description>The aip_xx1_gen2_launch package</description>
+
+  <maintainer email="hiroki.ota@tier4.jp">Hiroki OTA</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <exec_depend>common_sensor_launch</exec_depend>
+  <exec_depend>glog_component</exec_depend>
+  <exec_depend>gnss_poser</exec_depend>
+  <exec_depend>imu_corrector</exec_depend>
+  <exec_depend>pacmod3</exec_depend>
+  <exec_depend>pointcloud_preprocessor</exec_depend>
+  <exec_depend>ros2_socketcan</exec_depend>
+  <exec_depend>tamagawa_imu_driver</exec_depend>
+  <exec_depend>topic_tools</exec_depend>
+  <exec_depend>ublox_gps</exec_depend>
+  <exec_depend>usb_cam</exec_depend>
+  <exec_depend>vehicle_velocity_converter</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/aip_xx1_launch/launch/imu.launch.xml b/aip_xx1_launch/launch/imu.launch.xml
index 7f1f0337..f0509930 100644
--- a/aip_xx1_launch/launch/imu.launch.xml
+++ b/aip_xx1_launch/launch/imu.launch.xml
@@ -1,23 +1,17 @@
 <launch>
 
+  <arg name="launch_driver" default="true" />
+  <arg name ="vehicle_id" default="$(env VEHICLE_ID default)" />
+
   <group>
     <push-ros-namespace namespace="imu"/>
 
-    <arg name="launch_driver" default="true" />
-    <arg name="interface" default="canImu"/>
-    <arg name="receiver_interval_sec" default="0.01"/>
-    <arg name ="vehicle_id" default="$(env VEHICLE_ID default)" />
-
     <group>
       <push-ros-namespace namespace="tamagawa"/>
-      <include file="$(find-pkg-share ros2_socketcan)/launch/socket_can_receiver.launch.py">
-        <arg name="interface" value="$(var interface)"/>
-        <arg name="interval_sec" value="$(var receiver_interval_sec)"/>
-      </include>
-      <node pkg="tamagawa_imu_driver" name="tag_can_driver" exec="tag_can_driver" if="$(var launch_driver)">
-        <remap from="/can/imu" to="from_can_bus"/>
-        <remap from="imu/data_raw" to="imu_raw"/>
-        <param name="imu_frame_id" value="tamagawa/imu_link"/>
+      <node pkg="tamagawa_imu_driver" name="tag_serial_driver" exec="tag_serial_driver" if="$(var launch_driver)" respawn="true" respawn_delay="10.0">
+        <remap from="imu/data_raw" to="imu_raw" />
+        <param name="port" value="/dev/imu" />
+        <param name="imu_frame_id" value="tamagawa/imu_link" />
       </node>
     </group>
 
@@ -29,11 +23,13 @@
       <arg name="param_file" value="$(var imu_corrector_param_file)"/>
     </include>
 
+    <arg name="gyro_bias_estimator_param_file" default="$(find-pkg-share aip_xx1_launch)/config/gyro_bias_estimator.param.yaml"/>
     <include file="$(find-pkg-share imu_corrector)/launch/gyro_bias_estimator.launch.xml">
       <arg name="input_imu_raw" value="$(var imu_raw_name)"/>
       <arg name="input_odom" value="/localization/kinematic_state"/>
       <arg name="imu_corrector_param_file" value="$(var imu_corrector_param_file)"/>
+      <arg name="gyro_bias_estimator_param_file" value="$(var gyro_bias_estimator_param_file)"/>
     </include>
   </group>
 
-</launch>
+</launch>
\ No newline at end of file
diff --git a/aip_xx1_launch/launch/lidar.launch.xml b/aip_xx1_launch/launch/lidar.launch.xml
index 7f77ad2d..1b5bef3c 100644
--- a/aip_xx1_launch/launch/lidar.launch.xml
+++ b/aip_xx1_launch/launch/lidar.launch.xml
@@ -5,102 +5,124 @@
   <arg name="use_concat_filter" default="true"/>
   <arg name ="vehicle_id" default="$(env VEHICLE_ID default)"/>
   <arg name="vehicle_mirror_param_file"/>
-  <arg name="use_pointcloud_container" default="false" description="launch pointcloud container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
+  <arg name="enable_blockage_diag" default="false"/>
 
   <group>
     <push-ros-namespace namespace="lidar"/>
 
     <group>
       <push-ros-namespace namespace="top"/>
-      <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_OT128.launch.xml">
-        <arg name="max_range" value="300.0"/>
-        <arg name="sensor_frame" value="hesai_top"/>
+      <include file="$(find-pkg-share common_sensor_launch)/launch/velodyne_VLS128.launch.xml">
+        <arg name="max_range" value="250.0"/>
+        <arg name="sensor_frame" value="velodyne_top"/>
         <arg name="sensor_ip" value="192.168.1.201"/>
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2368"/>
-        <arg name="scan_phase" value="160.0"/>
+        <arg name="scan_phase" value="300.0"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="pointcloud_container"/>
+        <arg name="vertical_bins" value="128"/>
+        <arg name="horizontal_ring_id" value="64"/>
+        <arg name="is_channel_order_top2down" value="false"/>
+        <arg name="horizontal_resolution" value="0.4"/>
+        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
       </include>
     </group>
 
     <group>
-      <push-ros-namespace namespace="front_left"/>
-      <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launch.xml">
-        <arg name="max_range" value="300.0"/>
-        <arg name="sensor_frame" value="hesai_front_left"/>
-        <arg name="sensor_ip" value="192.168.1.21"/>
+      <push-ros-namespace namespace="left"/>
+      <include file="$(find-pkg-share common_sensor_launch)/launch/velodyne_VLP16.launch.xml">
+        <arg name="max_range" value="5.0"/>
+        <arg name="sensor_frame" value="velodyne_left"/>
+        <arg name="sensor_ip" value="192.168.1.202"/>
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2369"/>
-        <arg name="scan_phase" value="50.0"/>
-        <arg name="cloud_min_angle" value="50"/>
-        <arg name="cloud_max_angle" value="320"/>
+        <arg name="scan_phase" value="180.0"/>
+        <arg name="cloud_min_angle" value="300"/>
+        <arg name="cloud_max_angle" value="60"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="pointcloud_container"/>
+        <arg name="vertical_bins" value="16"/>
+        <arg name="horizontal_ring_id" value="0"/>
+        <arg name="is_channel_order_top2down" value="false"/>
+        <arg name="horizontal_resolution" value="0.4"/>
+        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
       </include>
     </group>
 
     <group>
-      <push-ros-namespace namespace="front_right"/>
-      <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launch.xml">
-        <arg name="max_range" value="300.0"/>
-        <arg name="sensor_frame" value="hesai_front_right"/>
-        <arg name="sensor_ip" value="192.168.1.22"/>
+      <push-ros-namespace namespace="right"/>
+      <include file="$(find-pkg-share common_sensor_launch)/launch/velodyne_VLP16.launch.xml">
+        <arg name="max_range" value="5.0"/>
+        <arg name="sensor_frame" value="velodyne_right"/>
+        <arg name="sensor_ip" value="192.168.1.203"/>
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2370"/>
-        <arg name="scan_phase" value="310.0"/>
-        <arg name="cloud_min_angle" value="40"/>
-        <arg name="cloud_max_angle" value="310"/>
+        <arg name="scan_phase" value="180.0"/>
+        <arg name="cloud_min_angle" value="300"/>
+        <arg name="cloud_max_angle" value="60"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="pointcloud_container"/>
+        <arg name="vertical_bins" value="16"/>
+        <arg name="horizontal_ring_id" value="0"/>
+        <arg name="is_channel_order_top2down" value="false"/>
+        <arg name="horizontal_resolution" value="0.4"/>
+        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
       </include>
     </group>
 
     <group>
-      <push-ros-namespace namespace="side_left"/>
-      <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launch.xml">
-        <arg name="max_range" value="10.0"/>
-        <arg name="sensor_frame" value="hesai_side_left"/>
-        <arg name="sensor_ip" value="192.168.1.23"/>
+      <push-ros-namespace namespace="rear"/>
+      <include file="$(find-pkg-share common_sensor_launch)/launch/velodyne_VLP16.launch.xml">
+        <arg name="max_range" value="1.5"/>
+        <arg name="sensor_frame" value="velodyne_rear"/>
+        <arg name="sensor_ip" value="192.168.1.204"/>
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2371"/>
-        <arg name="scan_phase" value="90.0"/>
-        <arg name="cloud_min_angle" value="90"/>
-        <arg name="cloud_max_angle" value="270"/>
+        <arg name="scan_phase" value="180.0"/>
+        <arg name="cloud_min_angle" value="300"/>
+        <arg name="cloud_max_angle" value="60"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="pointcloud_container"/>
+        <arg name="vertical_bins" value="16"/>
+        <arg name="horizontal_ring_id" value="0"/>
+        <arg name="is_channel_order_top2down" value="false"/>
+        <arg name="horizontal_resolution" value="0.4"/>
+        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
       </include>
     </group>
 
-    <group>
-      <push-ros-namespace namespace="side_right"/>
-      <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launch.xml">
-        <arg name="max_range" value="10.0"/>
-        <arg name="sensor_frame" value="hesai_side_right"/>
-        <arg name="sensor_ip" value="192.168.1.24"/>
-        <arg name="host_ip" value="$(var host_ip)"/>
-        <arg name="data_port" value="2372"/>
-        <arg name="scan_phase" value="270.0"/>
-        <arg name="cloud_min_angle" value="90"/>
-        <arg name="cloud_max_angle" value="270"/>
-        <arg name="launch_driver" value="$(var launch_driver)"/>
-        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
-        <arg name="container_name" value="pointcloud_container"/>
+    <!-- <group>
+      <push-ros-namespace namespace="front_left"/>
+      <include file="$(find-pkg-share common_sensor_launch)/launch/livox_horizon.launch.py">
+        <arg name="sensor_frame" value="livox_front_left" />
+        <arg name="bd_code_param_path" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_xx1/livox_front_left_bd_code.param.yaml" />
+        <arg name="launch_driver" value="$(var launch_driver)" />
+        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
       </include>
     </group>
 
+    <group>
+      <push-ros-namespace namespace="front_right"/>
+      <include file="$(find-pkg-share common_sensor_launch)/launch/livox_horizon.launch.py">
+        <arg name="sensor_frame" value="livox_front_right" />
+        <arg name="bd_code_param_path" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_xx1/livox_front_right_bd_code.param.yaml" />
+        <arg name="launch_driver" value="$(var launch_driver)" />
+        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
+      </include>
+    </group> -->
+
     <include file="$(find-pkg-share aip_xx1_launch)/launch/pointcloud_preprocessor.launch.py">
       <arg name="base_frame" value="base_link"/>
       <arg name="use_intra_process" value="true"/>
       <arg name="use_multithread" value="true"/>
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </include>
 
   </group>
-</launch>
+</launch>
\ No newline at end of file
diff --git a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
index 4aa9736c..a5d67206 100644
--- a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
+++ b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
@@ -20,7 +20,6 @@
 from launch.conditions import IfCondition
 from launch.conditions import UnlessCondition
 from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import ComposableNodeContainer
 from launch_ros.actions import LoadComposableNodes
 from launch_ros.descriptions import ComposableNode
 
@@ -39,10 +38,9 @@ def launch_setup(context, *args, **kwargs):
             {
                 "input_topics": [
                     "/sensing/lidar/top/pointcloud_before_sync",
-                    "/sensing/lidar/side_left/pointcloud_before_sync",
-                    "/sensing/lidar/side_right/pointcloud_before_sync",
-                    "/sensing/lidar/front_left/pointcloud_before_sync",
-                    "/sensing/lidar/front_right/pointcloud_before_sync",
+                    "/sensing/lidar/left/pointcloud_before_sync",
+                    "/sensing/lidar/right/pointcloud_before_sync",
+                    "/sensing/lidar/rear/pointcloud_before_sync",
                 ],
                 "output_frame": LaunchConfiguration("base_frame"),
                 "input_offset": [
@@ -50,7 +48,6 @@ def launch_setup(context, *args, **kwargs):
                     0.025,
                     0.025,
                     0.025,
-                    0.025,
                 ],  # each sensor will wait 60, 70, 70, 70ms
                 "timeout_sec": 0.095,  # set shorter than 100ms
                 "input_twist_topic_type": "twist",
@@ -60,30 +57,14 @@ def launch_setup(context, *args, **kwargs):
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )
 
-    # set container to run all required components in the same process
-    container = ComposableNodeContainer(
-        name=LaunchConfiguration("individual_container_name"),
-        namespace="",
-        package="rclcpp_components",
-        executable=LaunchConfiguration("container_executable"),
-        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
-        output="screen",
-    )
-
-    target_container = (
-        container
-        if UnlessCondition(LaunchConfiguration("use_pointcloud_container")).evaluate(context)
-        else LaunchConfiguration("pointcloud_container_name")
-    )
-
     # load concat or passthrough filter
     concat_loader = LoadComposableNodes(
         composable_node_descriptions=[concat_component],
-        target_container=target_container,
+        target_container=LaunchConfiguration("pointcloud_container_name"),
         condition=IfCondition(LaunchConfiguration("use_concat_filter")),
     )
 
-    return [container, concat_loader]
+    return [concat_loader]
 
 
 def generate_launch_description():
@@ -95,9 +76,7 @@ def add_launch_arg(name: str, default_value=None):
     add_launch_arg("base_frame", "base_link")
     add_launch_arg("use_multithread", "False")
     add_launch_arg("use_intra_process", "False")
-    add_launch_arg("use_pointcloud_container", "False")
     add_launch_arg("pointcloud_container_name", "pointcloud_container")
-    add_launch_arg("individual_container_name", "concatenate_container")
 
     set_container_executable = SetLaunchConfiguration(
         "container_executable",
@@ -115,4 +94,4 @@ def add_launch_arg(name: str, default_value=None):
         launch_arguments
         + [set_container_executable, set_container_mt_executable]
         + [OpaqueFunction(function=launch_setup)]
-    )
+    )
\ No newline at end of file
diff --git a/aip_xx1_launch/launch/radar.launch.xml b/aip_xx1_launch/launch/radar.launch.xml
index aba667d9..f8ede59f 100644
--- a/aip_xx1_launch/launch/radar.launch.xml
+++ b/aip_xx1_launch/launch/radar.launch.xml
@@ -1,214 +1,23 @@
 <launch>
-  <arg name="launch_driver" default="true" description="do launch driver"/>
-
-  <let name="odometry_topic" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
-  <let name="acceleration_topic" value="/localization/acceleration"/>
-  <let name="steering_angle_topic" value="/vehicle/status/steering_status_scalar"/>
-  <arg name="radar_tracks_msgs_converter_param_path" default="$(find-pkg-share common_sensor_launch)/config/radar_tracks_msgs_converter.param.yaml"/>
+  <arg name="launch_driver" default="true" />
+  <arg name="input/frame" default="from_can_bus" />
+  <arg name="radar_can_device" default="canRadar" />
 
   <group>
     <push-ros-namespace namespace="radar"/>
 
-    <!--node pkg="tf2_ros" exec="static_transform_publisher" name="tf_broadcaster" output="screen" args="$(var wheel_base) 0 0 0 0 0 base_link autosar"/-->
-    <node pkg="topic_tools" exec="transform" name="steer_angle_transform" output="screen" args="/vehicle/status/steering_status /vehicle/status/steering_status_scalar std_msgs/msg/Float32 'std_msgs.msg.Float32(data=m.steering_tire_angle)'  --import autoware_auto_vehicle_msgs std_msgs --wait-for-start"/>
-    <!-- ros2 run topic_tools transform /vehicle/status/steering_status /vehicle/status/steering_status_scalar std_msgs/msg/Float64 'std_msgs.msg.Float64(data=m.steering_tire_angle)'  \-\-import autoware_auto_vehicle_msgs std_msgs -->
-
     <group>
       <push-ros-namespace namespace="front_center"/>
-        <include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml" if="$(var launch_driver)">
-
-          <arg name="odometry_topic" value="$(var odometry_topic)"/>
-          <arg name="acceleration_topic" value="$(var acceleration_topic)"/>
-          <arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>
-
-          <arg name="sensor_ip" value="10.13.1.114"/>
-          <arg name="frame_id" value="front_center/radar_link"/>
-          <arg name="object_frame" value="base_link"/>
-
-          <arg name="sensor_model" value="ARS548"/>
-          <arg name="host_ip" value="10.13.1.166"/>
-          <arg name="multicast_ip" value="224.0.2.2"/>
-          <arg name="data_port" value="42102"/>
-          <arg name="configuration_host_port" value="42401"/>
-          <arg name="configuration_sensor_port" value="42101"/>
-
-          <arg name="new_plug_orientation" value="0"/>
-      </include>
-        
-      <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
-        <arg name="input/radar_objects" value="objects_raw"/>
-        <arg name="input/odometry" value="$(var odometry_topic)"/>
-        <arg name="output/radar_detected_objects" value="detected_objects"/>
-        <arg name="output/radar_tracked_objects" value="tracked_objects"/>
-        <arg name="use_twist_compensation" value="false"/>
-        <arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
-      </include>
-    </group>
-
-    <group>
-      <push-ros-namespace namespace="front_left"/>
-        <include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml" if="$(var launch_driver)">
-
-          <arg name="odometry_topic" value="$(var odometry_topic)"/>
-          <arg name="acceleration_topic" value="$(var acceleration_topic)"/>
-          <arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>
-
-          <arg name="sensor_ip" value="10.13.1.115"/>
-          <arg name="frame_id" value="front_left/radar_link"/>
-          <arg name="object_frame" value="front_left/radar_link"/>
 
-          <arg name="sensor_model" value="ARS548"/>
-          <arg name="host_ip" value="10.13.1.166"/>
-          <arg name="multicast_ip" value="224.0.2.2"/>
-          <arg name="data_port" value="42102"/>
-          <arg name="configuration_host_port" value="42401"/>
-          <arg name="configuration_sensor_port" value="42101"/>
-
-          <arg name="new_plug_orientation" value="0"/>
-      </include>
-
-      <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
-        <arg name="input/radar_objects" value="objects_raw"/>
-        <arg name="input/odometry" value="$(var odometry_topic)"/>
-        <arg name="output/radar_detected_objects" value="detected_objects"/>
-        <arg name="output/radar_tracked_objects" value="tracked_objects"/>
-        <arg name="use_twist_compensation" value="false"/>
-        <arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
+      <include file="$(find-pkg-share common_sensor_launch)/launch/ars408.launch.xml">
+        <arg name="launch_driver" value="$(var launch_driver)" />
+        <arg name="interface" value="$(var radar_can_device)" />
+        <arg name="input/frame" value="$(var input/frame)" />
+        <arg name="output_frame" value="ars408_front_center" />
       </include>
     </group>
 
-    <group>
-      <push-ros-namespace namespace="front_right"/>
-        <include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml" if="$(var launch_driver)">
-
-          <arg name="odometry_topic" value="$(var odometry_topic)"/>
-          <arg name="acceleration_topic" value="$(var acceleration_topic)"/>
-          <arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>
-
-          <arg name="sensor_ip" value="10.13.1.116"/>
-          <arg name="frame_id" value="front_right/radar_link"/>
-          <arg name="object_frame" value="front_right/radar_link"/>
-
-          <arg name="sensor_model" value="ARS548"/>
-          <arg name="host_ip" value="10.13.1.166"/>
-          <arg name="multicast_ip" value="224.0.2.2"/>
-          <arg name="data_port" value="42102"/>
-          <arg name="configuration_host_port" value="42401"/>
-          <arg name="configuration_sensor_port" value="42101"/>
-
-          <arg name="new_plug_orientation" value="0"/>
-      </include>
-
-      <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
-        <arg name="input/radar_objects" value="objects_raw"/>
-        <arg name="input/odometry" value="$(var odometry_topic)"/>
-        <arg name="output/radar_detected_objects" value="detected_objects"/>
-        <arg name="output/radar_tracked_objects" value="tracked_objects"/>
-        <arg name="use_twist_compensation" value="false"/>
-        <arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
-      </include>      
-    </group>
-
-    <group>
-      <push-ros-namespace namespace="rear_center"/>
-        <include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml" if="$(var launch_driver)">
-
-          <arg name="odometry_topic" value="$(var odometry_topic)"/>
-          <arg name="acceleration_topic" value="$(var acceleration_topic)"/>
-          <arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>
-
-          <arg name="sensor_ip" value="10.13.1.117"/>
-          <arg name="frame_id" value="rear_center/radar_link"/>
-          <arg name="object_frame" value="base_link"/>
-
-          <arg name="sensor_model" value="ARS548"/>
-          <arg name="host_ip" value="10.13.1.166"/>
-          <arg name="multicast_ip" value="224.0.2.2"/>
-          <arg name="data_port" value="42102"/>
-          <arg name="configuration_host_port" value="42401"/>
-          <arg name="configuration_sensor_port" value="42101"/>
-
-          <arg name="new_plug_orientation" value="0"/>
-      </include>
-
-      <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
-        <arg name="input/radar_objects" value="objects_raw"/>
-        <arg name="input/odometry" value="$(var odometry_topic)"/>
-        <arg name="output/radar_detected_objects" value="detected_objects"/>
-        <arg name="output/radar_tracked_objects" value="tracked_objects"/>
-        <arg name="use_twist_compensation" value="false"/>
-        <arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
-      </include>      
-    </group>
-
-    <group>
-      <push-ros-namespace namespace="rear_left"/>
-        <include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml" if="$(var launch_driver)">
-
-          <arg name="odometry_topic" value="$(var odometry_topic)"/>
-          <arg name="acceleration_topic" value="$(var acceleration_topic)"/>
-          <arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>
-
-          <arg name="sensor_ip" value="10.13.1.118"/>
-          <arg name="frame_id" value="rear_left/radar_link"/>
-          <arg name="object_frame" value="base_link"/>
-
-          <arg name="sensor_model" value="ARS548"/>
-          <arg name="host_ip" value="10.13.1.166"/>
-          <arg name="multicast_ip" value="224.0.2.2"/>
-          <arg name="data_port" value="42102"/>
-          <arg name="configuration_host_port" value="42401"/>
-          <arg name="configuration_sensor_port" value="42101"/>
-
-          <arg name="new_plug_orientation" value="0"/>
-      </include>
-
-      <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
-        <arg name="input/radar_objects" value="objects_raw"/>
-        <arg name="input/odometry" value="$(var odometry_topic)"/>
-        <arg name="output/radar_detected_objects" value="detected_objects"/>
-        <arg name="output/radar_tracked_objects" value="tracked_objects"/>
-        <arg name="use_twist_compensation" value="false"/>
-        <arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
-      </include>      
-    </group>
-
-    <group>
-      <push-ros-namespace namespace="rear_right"/>
-        <include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml" if="$(var launch_driver)">
-
-          <arg name="odometry_topic" value="$(var odometry_topic)"/>
-          <arg name="acceleration_topic" value="$(var acceleration_topic)"/>
-          <arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>
-
-          <arg name="sensor_ip" value="10.13.1.119"/>
-          <arg name="frame_id" value="rear_right/radar_link"/>
-          <arg name="object_frame" value="base_link"/>
-
-          <arg name="sensor_model" value="ARS548"/>
-          <arg name="host_ip" value="10.13.1.166"/>
-          <arg name="multicast_ip" value="224.0.2.2"/>
-          <arg name="data_port" value="42102"/>
-          <arg name="configuration_host_port" value="42401"/>
-          <arg name="configuration_sensor_port" value="42101"/>
-
-          <arg name="new_plug_orientation" value="0"/>
-      </include>
-
-      <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
-        <arg name="input/radar_objects" value="objects_raw"/>
-        <arg name="input/odometry" value="$(var odometry_topic)"/>
-        <arg name="output/radar_detected_objects" value="detected_objects"/>
-        <arg name="output/radar_tracked_objects" value="tracked_objects"/>
-        <arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
-      </include>      
-    </group>
+    <node pkg="topic_tools" exec="relay" name="radar_relay" output="log" args="front_center/detected_objects detected_objects"/>
 
-    <!-- merge radar objects -->
-    <let name="merger_param_path" value="$(find-pkg-share aip_xx1_launch)/config/radar_simple_object_merger.param.yaml"/>
-    <node pkg="simple_object_merger" exec="simple_object_merger_node" name="simple_object_merger" output="screen">  
-      <remap from="~/output/objects" to="detected_objects"/>
-      <param from="$(var merger_param_path)"/>
-    </node>
   </group>
-</launch>
+</launch>
\ No newline at end of file

From 2e95c3c1d06b721bead30cc14d250eae51c5457e Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Mon, 17 Jun 2024 07:42:31 +0000
Subject: [PATCH 33/41] ci(pre-commit): autofix

---
 aip_xx1_gen2_launch/launch/radar.launch.xml          | 12 ++++++------
 aip_xx1_launch/launch/imu.launch.xml                 |  2 +-
 aip_xx1_launch/launch/lidar.launch.xml               |  2 +-
 .../launch/pointcloud_preprocessor.launch.py         |  2 +-
 aip_xx1_launch/launch/radar.launch.xml               |  2 +-
 5 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/aip_xx1_gen2_launch/launch/radar.launch.xml b/aip_xx1_gen2_launch/launch/radar.launch.xml
index aba667d9..1f9b16e6 100644
--- a/aip_xx1_gen2_launch/launch/radar.launch.xml
+++ b/aip_xx1_gen2_launch/launch/radar.launch.xml
@@ -34,7 +34,7 @@
 
           <arg name="new_plug_orientation" value="0"/>
       </include>
-        
+
       <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
         <arg name="input/radar_objects" value="objects_raw"/>
         <arg name="input/odometry" value="$(var odometry_topic)"/>
@@ -106,7 +106,7 @@
         <arg name="output/radar_tracked_objects" value="tracked_objects"/>
         <arg name="use_twist_compensation" value="false"/>
         <arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
-      </include>      
+      </include>
     </group>
 
     <group>
@@ -138,7 +138,7 @@
         <arg name="output/radar_tracked_objects" value="tracked_objects"/>
         <arg name="use_twist_compensation" value="false"/>
         <arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
-      </include>      
+      </include>
     </group>
 
     <group>
@@ -170,7 +170,7 @@
         <arg name="output/radar_tracked_objects" value="tracked_objects"/>
         <arg name="use_twist_compensation" value="false"/>
         <arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
-      </include>      
+      </include>
     </group>
 
     <group>
@@ -201,12 +201,12 @@
         <arg name="output/radar_detected_objects" value="detected_objects"/>
         <arg name="output/radar_tracked_objects" value="tracked_objects"/>
         <arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
-      </include>      
+      </include>
     </group>
 
     <!-- merge radar objects -->
     <let name="merger_param_path" value="$(find-pkg-share aip_xx1_launch)/config/radar_simple_object_merger.param.yaml"/>
-    <node pkg="simple_object_merger" exec="simple_object_merger_node" name="simple_object_merger" output="screen">  
+    <node pkg="simple_object_merger" exec="simple_object_merger_node" name="simple_object_merger" output="screen">
       <remap from="~/output/objects" to="detected_objects"/>
       <param from="$(var merger_param_path)"/>
     </node>
diff --git a/aip_xx1_launch/launch/imu.launch.xml b/aip_xx1_launch/launch/imu.launch.xml
index f0509930..85b620d7 100644
--- a/aip_xx1_launch/launch/imu.launch.xml
+++ b/aip_xx1_launch/launch/imu.launch.xml
@@ -32,4 +32,4 @@
     </include>
   </group>
 
-</launch>
\ No newline at end of file
+</launch>
diff --git a/aip_xx1_launch/launch/lidar.launch.xml b/aip_xx1_launch/launch/lidar.launch.xml
index 1b5bef3c..279bf9f2 100644
--- a/aip_xx1_launch/launch/lidar.launch.xml
+++ b/aip_xx1_launch/launch/lidar.launch.xml
@@ -125,4 +125,4 @@
     </include>
 
   </group>
-</launch>
\ No newline at end of file
+</launch>
diff --git a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
index a5d67206..726171f9 100644
--- a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
+++ b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
@@ -94,4 +94,4 @@ def add_launch_arg(name: str, default_value=None):
         launch_arguments
         + [set_container_executable, set_container_mt_executable]
         + [OpaqueFunction(function=launch_setup)]
-    )
\ No newline at end of file
+    )
diff --git a/aip_xx1_launch/launch/radar.launch.xml b/aip_xx1_launch/launch/radar.launch.xml
index f8ede59f..44d24722 100644
--- a/aip_xx1_launch/launch/radar.launch.xml
+++ b/aip_xx1_launch/launch/radar.launch.xml
@@ -20,4 +20,4 @@
     <node pkg="topic_tools" exec="relay" name="radar_relay" output="log" args="front_center/detected_objects detected_objects"/>
 
   </group>
-</launch>
\ No newline at end of file
+</launch>

From a6185441cd38b113f1bc661f69eb14c9aac5f895 Mon Sep 17 00:00:00 2001
From: Yuxuan Liu <uken.ryu.2@tier4.jp>
Date: Mon, 17 Jun 2024 16:44:39 +0900
Subject: [PATCH 34/41] add folders for description

Signed-off-by: Yuxuan Liu <uken.ryu.2@tier4.jp>
---
 .../config/sensor_kit_calibration.yaml        | 181 ++++++-------
 .../config/sensors_calibration.yaml           |  93 ++-----
 aip_xx1_description/urdf/sensor_kit.xacro     | 133 ++++-----
 aip_xx1_description/urdf/sensors.xacro        | 111 +++-----
 aip_xx1_gen2_description/CMakeLists.txt       |  11 +
 .../config/sensor_kit_calibration.yaml        | 113 ++++++++
 .../config/sensors_calibration.yaml           |  71 +++++
 aip_xx1_gen2_description/package.xml          |  17 ++
 .../urdf/sensor_kit.xacro                     | 253 ++++++++++++++++++
 aip_xx1_gen2_description/urdf/sensors.xacro   | 121 +++++++++
 .../radar_simple_object_merger.param.yaml     |   6 -
 11 files changed, 780 insertions(+), 330 deletions(-)
 create mode 100644 aip_xx1_gen2_description/CMakeLists.txt
 create mode 100644 aip_xx1_gen2_description/config/sensor_kit_calibration.yaml
 create mode 100644 aip_xx1_gen2_description/config/sensors_calibration.yaml
 create mode 100644 aip_xx1_gen2_description/package.xml
 create mode 100644 aip_xx1_gen2_description/urdf/sensor_kit.xacro
 create mode 100644 aip_xx1_gen2_description/urdf/sensors.xacro
 delete mode 100644 aip_xx1_launch/config/radar_simple_object_merger.param.yaml

diff --git a/aip_xx1_description/config/sensor_kit_calibration.yaml b/aip_xx1_description/config/sensor_kit_calibration.yaml
index 88288533..b3c920c6 100644
--- a/aip_xx1_description/config/sensor_kit_calibration.yaml
+++ b/aip_xx1_description/config/sensor_kit_calibration.yaml
@@ -1,113 +1,92 @@
 sensor_kit_base_link:
   camera0/camera_link:
-    x: 0.372 # Design Value
-    y: 0.0 # Design Value
-    z: -0.207 # Design Value
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: 0.0 # Design Value
+    x: 0.10731
+    y: 0.56343
+    z: -0.27697
+    roll: -0.025
+    pitch: 0.315
+    yaw: 1.035
   camera1/camera_link:
-    x: 0.372 # Design Value
-    y: 0.045 # Design Value
-    z: -0.207 # Design Value
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: 0.0 # Design Value
+    x: -0.10731
+    y: -0.56343
+    z: -0.27697
+    roll: -0.025
+    pitch: 0.32
+    yaw: -2.12
   camera2/camera_link:
-    x: 0.372 # Design Value
-    y: -0.045 # Design Value
-    z: -0.207 # Design Value
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: 0.0 # Design Value
+    x: 0.10731
+    y: -0.56343
+    z: -0.27697
+    roll: -0.00
+    pitch: 0.335
+    yaw: -1.04
   camera3/camera_link:
-    x: 0.133 # Design Value
-    y: 0.498 # Design Value
-    z: -0.246 # Design Value
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: 0.872665 # Design Value
+    x: -0.10731
+    y: 0.56343
+    z: -0.27697
+    roll: 0.0
+    pitch: 0.325
+    yaw: 2.0943951
   camera4/camera_link:
-    x: 0.133 # Design Value
-    y: -0.498 # Design Value
-    z: -0.246 # Design Value
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: -0.872665 # Design Value
+    x: 0.07356
+    y: 0.0
+    z: -0.0525
+    roll: 0.0
+    pitch: -0.03
+    yaw: -0.005
   camera5/camera_link:
-    x: 0.095 # Design Value
-    y: 0.524 # Design Value
-    z: -0.246 # Design Value
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: 1.0472 # Design Value
+    x: -0.07356
+    y: 0.0
+    z: -0.0525
+    roll: 0.0
+    pitch: -0.01
+    yaw: 3.125
   camera6/camera_link:
-    x: 0.095 # Design Value
-    y: -0.524 # Design Value
-    z: -0.246 # Design Value
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: -1.0472 # Design Value
+    x: 0.05
+    y: 0.0175
+    z: -0.1
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
   camera7/camera_link:
-    x: -0.345 # Design Value
-    y: 0.244 # Design Value
-    z: -0.174 # Design Value
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: 2.70526 # Design Value
-  camera8/camera_link:
-    x: -0.345 # Design Value
-    y: -0.244 # Design Value
-    z: -0.174 # Design Value
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: -2.70526 # Design Value
-  camera9/camera_link:
-    x: -0.362 # Design Value
-    y: 0.202 # Design Value
-    z: -0.174 # Design Value
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: 2.79253 # Design Value
-  camera10/camera_link:
-    x: -0.362 # Design Value
-    y: -0.202 # Design Value
-    z: -0.174 # Design Value
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: -2.79253 # Design Value
-  hesai_top_base_link:
-    x: 0.0 # Design Value
-    y: 0.0 # Design Value
-    z: 0.0 # Design Value
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: 4.36332298038 # Design Value
-  hesai_left_base_link:
-    x: 0.0 # Design Value
-    y: 0.564 # Design Value
-    z: -0.300 # Design Value
-    roll: 0.872665 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: 3.14159265359 # Design Value
-  hesai_right_base_link:
-    x: 0.0 # Design Value
-    y: -0.564 # Design Value
-    z: -0.300 # Design Value
-    roll: 0.69813132679 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: 0.0 # Design Value
+    x: 0.05
+    y: -0.0175
+    z: -0.1
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  velodyne_top_base_link:
+    x: 0.0
+    y: 0.0
+    z: 0.0
+    roll: 0.0
+    pitch: 0.0
+    yaw: 1.575
+  velodyne_left_base_link:
+    x: 0.0
+    y: 0.56362
+    z: -0.30555
+    roll: -0.02
+    pitch: 0.71
+    yaw: 1.575
+  velodyne_right_base_link:
+    x: 0.0
+    y: -0.56362
+    z: -0.30555
+    roll: -0.01
+    pitch: 0.71
+    yaw: -1.580
   gnss_link:
-    x: -0.279 # Design Value
-    y: 0.0 # Design Value
-    z: -0.160 # Design Value
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: 0.0 # Design Value
+    x: -0.1
+    y: 0.0
+    z: -0.2
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
   tamagawa/imu_link:
-    x: -0.129 # Design Value
-    y: 0.0 # Design Value
-    z: -0.160 # Design Value
+    x: 0.0
+    y: 0.0
+    z: 0.0
     roll: 3.14159265359
-    pitch: 0.0 # Design Value
-    yaw: 3.14159265359 # Design Value
+    pitch: 0.0
+    yaw: 3.14159265359
\ No newline at end of file
diff --git a/aip_xx1_description/config/sensors_calibration.yaml b/aip_xx1_description/config/sensors_calibration.yaml
index a57d3ea9..c7389f7e 100644
--- a/aip_xx1_description/config/sensors_calibration.yaml
+++ b/aip_xx1_description/config/sensors_calibration.yaml
@@ -1,71 +1,36 @@
 base_link:
+  ars408_front_center:
+    x: 3.8
+    y: 0.0
+    z: 0.5
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
   sensor_kit_base_link:
     x: 0.9
     y: 0.0
     z: 2.0
+    roll: -0.001
+    pitch: 0.015
+    yaw: -0.0364
+  livox_front_right_base_link:
+    x: 3.290
+    y: -0.65485
+    z: 0.3216
     roll: 0.0
     pitch: 0.0
-    yaw: 0.0
-  hesai_front_left_base_link:
-    x: 3.373 # Design Value
-    y: 0.740 # Design Value
-    z: 0.5482
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: 2.44346132679 # Design Value
-  hesai_front_right_base_link:
-    x: 3.373 # Design Value
-    y: -0.740 # Design Value
-    z: 0.5482
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: 0.69813132679 # 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
-  front_center/radar_link:
-    x: 3.520 # Design Value
-    y: 0.0 # Design Value
-    z: 0.6352
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: 0.0 # Design Value
-  front_right/radar_link:
-    x: 3.384 # Design Value
-    y: -0.7775 # Design Value
-    z: 0.410
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: -1.22173 # Design Value
-  front_left/radar_link:
-    x: 3.384 # Design Value
-    y: 0.7775 # Design Value
-    z: 0.410
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: 1.22173 # Design Value
-  rear_center/radar_link:
-    x: -0.858 # Design Value
-    y: 0.0 # Design Value
-    z: 0.520
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: 3.141592 # Design Value
-  rear_right/radar_link:
-    x: -0.782 # Design Value
-    y: -0.761 # Design Value
-    z: 0.520
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: -2.0944 # Design Value
-  rear_left/radar_link:
-    x: -0.782 # Design Value
-    y: 0.761 # Design Value
-    z: 0.520
-    roll: 0.0 # Design Value
-    pitch: 0.0 # Design Value
-    yaw: 2.0944 # Design Value
+    yaw: -0.872664444
+  livox_front_left_base_link:
+    x: 3.290
+    y: 0.65485
+    z: 0.3016
+    roll: -0.021
+    pitch: 0.05
+    yaw: 0.872664444
+  velodyne_rear_base_link:
+    x: -0.358
+    y: 0.0
+    z: 1.631
+    roll: -0.02
+    pitch: 0.7281317
+    yaw: 3.141592
\ No newline at end of file
diff --git a/aip_xx1_description/urdf/sensor_kit.xacro b/aip_xx1_description/urdf/sensor_kit.xacro
index 8830a4d3..e4a6c40d 100644
--- a/aip_xx1_description/urdf/sensor_kit.xacro
+++ b/aip_xx1_description/urdf/sensor_kit.xacro
@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
   <xacro:macro name="sensor_kit_macro" params="parent x y z roll pitch yaw">
-    <xacro:include filename="$(find pandar_description)/urdf/pandar_xt32.xacro"/>
-    <xacro:include filename="$(find pandar_description)/urdf/pandar_ot128.xacro"/>
+    <xacro:include filename="$(find velodyne_description)/urdf/HDL-32E.urdf.xacro"/>
     <xacro:include filename="$(find velodyne_description)/urdf/VLP-16.urdf.xacro"/>
+    <xacro:include filename="$(find vls_description)/urdf/VLS-128.urdf.xacro"/>
     <xacro:include filename="$(find camera_description)/urdf/monocular_camera.xacro"/>
     <xacro:include filename="$(find imu_description)/urdf/imu.xacro"/>
 
@@ -25,37 +25,57 @@
     <!-- sensor -->
     <xacro:property name="calibration" value="${xacro.load_yaml('$(arg config_dir)/sensor_kit_calibration.yaml')}"/>
     <!-- lidar -->
-    <xacro:PandarOT-128
-      name="hesai_top"
-      parent="sensor_kit_base_link"
-      x="${calibration['sensor_kit_base_link']['hesai_top_base_link']['x']}"
-      y="${calibration['sensor_kit_base_link']['hesai_top_base_link']['y']}"
-      z="${calibration['sensor_kit_base_link']['hesai_top_base_link']['z']}"
-      roll="${calibration['sensor_kit_base_link']['hesai_top_base_link']['roll']}"
-      pitch="${calibration['sensor_kit_base_link']['hesai_top_base_link']['pitch']}"
-      yaw="${calibration['sensor_kit_base_link']['hesai_top_base_link']['yaw']}"
-    />
-    <xacro:PandarXT-32
-      name="hesai_side_right"
-      parent="sensor_kit_base_link"
-      x="${calibration['sensor_kit_base_link']['hesai_right_base_link']['x']}"
-      y="${calibration['sensor_kit_base_link']['hesai_right_base_link']['y']}"
-      z="${calibration['sensor_kit_base_link']['hesai_right_base_link']['z']}"
-      roll="${calibration['sensor_kit_base_link']['hesai_right_base_link']['roll']}"
-      pitch="${calibration['sensor_kit_base_link']['hesai_right_base_link']['pitch']}"
-      yaw="${calibration['sensor_kit_base_link']['hesai_right_base_link']['yaw']}"
-    />
-    <xacro:PandarXT-32
-      name="hesai_side_left"
-      parent="sensor_kit_base_link"
-      x="${calibration['sensor_kit_base_link']['hesai_left_base_link']['x']}"
-      y="${calibration['sensor_kit_base_link']['hesai_left_base_link']['y']}"
-      z="${calibration['sensor_kit_base_link']['hesai_left_base_link']['z']}"
-      roll="${calibration['sensor_kit_base_link']['hesai_left_base_link']['roll']}"
-      pitch="${calibration['sensor_kit_base_link']['hesai_left_base_link']['pitch']}"
-      yaw="${calibration['sensor_kit_base_link']['hesai_left_base_link']['yaw']}"
-    />
-
+    <xacro:VLS-128
+      parent="sensor_kit_base_link"
+      name="velodyne_top"
+      topic="/points_raw"
+      hz="10"
+      samples="220"
+      gpu="$(arg gpu)"
+    >
+      <origin
+        xyz="${calibration['sensor_kit_base_link']['velodyne_top_base_link']['x']}
+             ${calibration['sensor_kit_base_link']['velodyne_top_base_link']['y']}
+             ${calibration['sensor_kit_base_link']['velodyne_top_base_link']['z']}"
+        rpy="${calibration['sensor_kit_base_link']['velodyne_top_base_link']['roll']}
+             ${calibration['sensor_kit_base_link']['velodyne_top_base_link']['pitch']}
+             ${calibration['sensor_kit_base_link']['velodyne_top_base_link']['yaw']}"
+      />
+    </xacro:VLS-128>
+    <xacro:VLP-16
+      parent="sensor_kit_base_link"
+      name="velodyne_left"
+      topic="/points_raw"
+      hz="10"
+      samples="220"
+      gpu="$(arg gpu)"
+    >
+      <origin
+        xyz="${calibration['sensor_kit_base_link']['velodyne_left_base_link']['x']}
+             ${calibration['sensor_kit_base_link']['velodyne_left_base_link']['y']}
+             ${calibration['sensor_kit_base_link']['velodyne_left_base_link']['z']}"
+        rpy="${calibration['sensor_kit_base_link']['velodyne_left_base_link']['roll']}
+             ${calibration['sensor_kit_base_link']['velodyne_left_base_link']['pitch']}
+             ${calibration['sensor_kit_base_link']['velodyne_left_base_link']['yaw']}"
+      />
+    </xacro:VLP-16>
+    <xacro:VLP-16
+      parent="sensor_kit_base_link"
+      name="velodyne_right"
+      topic="/points_raw"
+      hz="10"
+      samples="220"
+      gpu="$(arg gpu)"
+    >
+      <origin
+        xyz="${calibration['sensor_kit_base_link']['velodyne_right_base_link']['x']}
+             ${calibration['sensor_kit_base_link']['velodyne_right_base_link']['y']}
+             ${calibration['sensor_kit_base_link']['velodyne_right_base_link']['z']}"
+        rpy="${calibration['sensor_kit_base_link']['velodyne_right_base_link']['roll']}
+             ${calibration['sensor_kit_base_link']['velodyne_right_base_link']['pitch']}
+             ${calibration['sensor_kit_base_link']['velodyne_right_base_link']['yaw']}"
+      />
+    </xacro:VLP-16>
     <!-- camera -->
     <xacro:monocular_camera_macro
       name="camera0/camera"
@@ -177,51 +197,6 @@
       height="400"
       fov="1.3"
     />
-    <xacro:monocular_camera_macro
-      name="camera8/camera"
-      parent="sensor_kit_base_link"
-      namespace=""
-      x="${calibration['sensor_kit_base_link']['camera8/camera_link']['x']}"
-      y="${calibration['sensor_kit_base_link']['camera8/camera_link']['y']}"
-      z="${calibration['sensor_kit_base_link']['camera8/camera_link']['z']}"
-      roll="${calibration['sensor_kit_base_link']['camera8/camera_link']['roll']}"
-      pitch="${calibration['sensor_kit_base_link']['camera8/camera_link']['pitch']}"
-      yaw="${calibration['sensor_kit_base_link']['camera8/camera_link']['yaw']}"
-      fps="30"
-      width="800"
-      height="400"
-      fov="1.3"
-    />
-    <xacro:monocular_camera_macro
-      name="camera9/camera"
-      parent="sensor_kit_base_link"
-      namespace=""
-      x="${calibration['sensor_kit_base_link']['camera9/camera_link']['x']}"
-      y="${calibration['sensor_kit_base_link']['camera9/camera_link']['y']}"
-      z="${calibration['sensor_kit_base_link']['camera9/camera_link']['z']}"
-      roll="${calibration['sensor_kit_base_link']['camera9/camera_link']['roll']}"
-      pitch="${calibration['sensor_kit_base_link']['camera9/camera_link']['pitch']}"
-      yaw="${calibration['sensor_kit_base_link']['camera9/camera_link']['yaw']}"
-      fps="30"
-      width="800"
-      height="400"
-      fov="1.3"
-    />
-    <xacro:monocular_camera_macro
-      name="camera10/camera"
-      parent="sensor_kit_base_link"
-      namespace=""
-      x="${calibration['sensor_kit_base_link']['camera10/camera_link']['x']}"
-      y="${calibration['sensor_kit_base_link']['camera10/camera_link']['y']}"
-      z="${calibration['sensor_kit_base_link']['camera10/camera_link']['z']}"
-      roll="${calibration['sensor_kit_base_link']['camera10/camera_link']['roll']}"
-      pitch="${calibration['sensor_kit_base_link']['camera10/camera_link']['pitch']}"
-      yaw="${calibration['sensor_kit_base_link']['camera10/camera_link']['yaw']}"
-      fps="30"
-      width="800"
-      height="400"
-      fov="1.3"
-    />
     <!-- gnss -->
     <xacro:imu_macro
       name="gnss"
@@ -250,4 +225,4 @@
     />
   </xacro:macro>
 
-</robot>
+</robot>
\ No newline at end of file
diff --git a/aip_xx1_description/urdf/sensors.xacro b/aip_xx1_description/urdf/sensors.xacro
index 64dbf6bb..52299371 100644
--- a/aip_xx1_description/urdf/sensors.xacro
+++ b/aip_xx1_description/urdf/sensors.xacro
@@ -15,8 +15,8 @@
     pitch="${calibration['base_link']['sensor_kit_base_link']['pitch']}"
     yaw="${calibration['base_link']['sensor_kit_base_link']['yaw']}"
   />
-  <!-- embedded lidar sensors -->
-  <!-- <xacro:include filename="$(find velodyne_description)/urdf/VLP-16.urdf.xacro"/>
+  <!-- embedded sensors -->
+  <xacro:include filename="$(find velodyne_description)/urdf/VLP-16.urdf.xacro"/>
   <xacro:VLP-16
     parent="base_link"
     name="velodyne_rear"
@@ -33,89 +33,40 @@
            ${calibration['base_link']['velodyne_rear_base_link']['pitch']}
            ${calibration['base_link']['velodyne_rear_base_link']['yaw']}"
     />
-  </xacro:VLP-16> -->
-  <xacro:include filename="$(find pandar_description)/urdf/pandar_xt32.xacro"/>
-  <xacro:PandarXT-32
-    name="hesai_front_left"
+  </xacro:VLP-16>
+  <xacro:include filename="$(find livox_description)/urdf/livox_horizon.xacro"/>
+  <xacro:livox_horizon_macro
+    name="livox_front_left"
     parent="base_link"
-    x="${calibration['base_link']['hesai_front_left_base_link']['x']}"
-    y="${calibration['base_link']['hesai_front_left_base_link']['y']}"
-    z="${calibration['base_link']['hesai_front_left_base_link']['z']}"
-    roll="${calibration['base_link']['hesai_front_left_base_link']['roll']}"
-    pitch="${calibration['base_link']['hesai_front_left_base_link']['pitch']}"
-    yaw="${calibration['base_link']['hesai_front_left_base_link']['yaw']}"
+    x="${calibration['base_link']['livox_front_left_base_link']['x']}"
+    y="${calibration['base_link']['livox_front_left_base_link']['y']}"
+    z="${calibration['base_link']['livox_front_left_base_link']['z']}"
+    roll="${calibration['base_link']['livox_front_left_base_link']['roll']}"
+    pitch="${calibration['base_link']['livox_front_left_base_link']['pitch']}"
+    yaw="${calibration['base_link']['livox_front_left_base_link']['yaw']}"
   />
-  <xacro:PandarXT-32
-    name="hesai_front_right"
+  <xacro:livox_horizon_macro
+    name="livox_front_right"
     parent="base_link"
-    x="${calibration['base_link']['hesai_front_right_base_link']['x']}"
-    y="${calibration['base_link']['hesai_front_right_base_link']['y']}"
-    z="${calibration['base_link']['hesai_front_right_base_link']['z']}"
-    roll="${calibration['base_link']['hesai_front_right_base_link']['roll']}"
-    pitch="${calibration['base_link']['hesai_front_right_base_link']['pitch']}"
-    yaw="${calibration['base_link']['hesai_front_right_base_link']['yaw']}"
+    x="${calibration['base_link']['livox_front_right_base_link']['x']}"
+    y="${calibration['base_link']['livox_front_right_base_link']['y']}"
+    z="${calibration['base_link']['livox_front_right_base_link']['z']}"
+    roll="${calibration['base_link']['livox_front_right_base_link']['roll']}"
+    pitch="${calibration['base_link']['livox_front_right_base_link']['pitch']}"
+    yaw="${calibration['base_link']['livox_front_right_base_link']['yaw']}"
   />
 
-  <!-- embedded radar sensors -->
-  <xacro:include filename="$(find radar_description)/urdf/radar.xacro"/>
+  <!-- radar -->
+  <xacro:include filename="$(find aip_xx1_description)/urdf/radar.xacro"/>
   <xacro:radar_macro
-    name="front_center/radar_link"
+    name="ars408_front_center"
     parent="base_link"
-    x="${calibration['base_link']['front_center/radar_link']['x']}"
-    y="${calibration['base_link']['front_center/radar_link']['y']}"
-    z="${calibration['base_link']['front_center/radar_link']['z']}"
-    roll="${calibration['base_link']['front_center/radar_link']['roll']}"
-    pitch="${calibration['base_link']['front_center/radar_link']['pitch']}"
-    yaw="${calibration['base_link']['front_center/radar_link']['yaw']}"
+    x="${calibration['base_link']['ars408_front_center']['x']}"
+    y="${calibration['base_link']['ars408_front_center']['y']}"
+    z="${calibration['base_link']['ars408_front_center']['z']}"
+    roll="${calibration['base_link']['ars408_front_center']['roll']}"
+    pitch="${calibration['base_link']['ars408_front_center']['pitch']}"
+    yaw="${calibration['base_link']['ars408_front_center']['yaw']}"
   />
-  <xacro:radar_macro
-    name="front_right/radar_link"
-    parent="base_link"
-    x="${calibration['base_link']['front_right/radar_link']['x']}"
-    y="${calibration['base_link']['front_right/radar_link']['y']}"
-    z="${calibration['base_link']['front_right/radar_link']['z']}"
-    roll="${calibration['base_link']['front_right/radar_link']['roll']}"
-    pitch="${calibration['base_link']['front_right/radar_link']['pitch']}"
-    yaw="${calibration['base_link']['front_right/radar_link']['yaw']}"
-  />
-  <xacro:radar_macro
-    name="front_left/radar_link"
-    parent="base_link"
-    x="${calibration['base_link']['front_left/radar_link']['x']}"
-    y="${calibration['base_link']['front_left/radar_link']['y']}"
-    z="${calibration['base_link']['front_left/radar_link']['z']}"
-    roll="${calibration['base_link']['front_left/radar_link']['roll']}"
-    pitch="${calibration['base_link']['front_left/radar_link']['pitch']}"
-    yaw="${calibration['base_link']['front_left/radar_link']['yaw']}"
-  />
-  <xacro:radar_macro
-    name="rear_center/radar_link"
-    parent="base_link"
-    x="${calibration['base_link']['rear_center/radar_link']['x']}"
-    y="${calibration['base_link']['rear_center/radar_link']['y']}"
-    z="${calibration['base_link']['rear_center/radar_link']['z']}"
-    roll="${calibration['base_link']['rear_center/radar_link']['roll']}"
-    pitch="${calibration['base_link']['rear_center/radar_link']['pitch']}"
-    yaw="${calibration['base_link']['rear_center/radar_link']['yaw']}"
-  />
-  <xacro:radar_macro
-    name="rear_right/radar_link"
-    parent="base_link"
-    x="${calibration['base_link']['rear_right/radar_link']['x']}"
-    y="${calibration['base_link']['rear_right/radar_link']['y']}"
-    z="${calibration['base_link']['rear_right/radar_link']['z']}"
-    roll="${calibration['base_link']['rear_right/radar_link']['roll']}"
-    pitch="${calibration['base_link']['rear_right/radar_link']['pitch']}"
-    yaw="${calibration['base_link']['rear_right/radar_link']['yaw']}"
-  />
-  <xacro:radar_macro
-    name="rear_left/radar_link"
-    parent="base_link"
-    x="${calibration['base_link']['rear_left/radar_link']['x']}"
-    y="${calibration['base_link']['rear_left/radar_link']['y']}"
-    z="${calibration['base_link']['rear_left/radar_link']['z']}"
-    roll="${calibration['base_link']['rear_left/radar_link']['roll']}"
-    pitch="${calibration['base_link']['rear_left/radar_link']['pitch']}"
-    yaw="${calibration['base_link']['rear_left/radar_link']['yaw']}"
-  />
-</robot>
+
+</robot>
\ No newline at end of file
diff --git a/aip_xx1_gen2_description/CMakeLists.txt b/aip_xx1_gen2_description/CMakeLists.txt
new file mode 100644
index 00000000..50723262
--- /dev/null
+++ b/aip_xx1_gen2_description/CMakeLists.txt
@@ -0,0 +1,11 @@
+cmake_minimum_required(VERSION 3.5)
+project(aip_xx1_description)
+
+find_package(ament_cmake_auto REQUIRED)
+
+ament_auto_find_build_dependencies()
+
+ament_auto_package(INSTALL_TO_SHARE
+    urdf
+    config
+)
diff --git a/aip_xx1_gen2_description/config/sensor_kit_calibration.yaml b/aip_xx1_gen2_description/config/sensor_kit_calibration.yaml
new file mode 100644
index 00000000..88288533
--- /dev/null
+++ b/aip_xx1_gen2_description/config/sensor_kit_calibration.yaml
@@ -0,0 +1,113 @@
+sensor_kit_base_link:
+  camera0/camera_link:
+    x: 0.372 # Design Value
+    y: 0.0 # Design Value
+    z: -0.207 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 0.0 # Design Value
+  camera1/camera_link:
+    x: 0.372 # Design Value
+    y: 0.045 # Design Value
+    z: -0.207 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 0.0 # Design Value
+  camera2/camera_link:
+    x: 0.372 # Design Value
+    y: -0.045 # Design Value
+    z: -0.207 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 0.0 # Design Value
+  camera3/camera_link:
+    x: 0.133 # Design Value
+    y: 0.498 # Design Value
+    z: -0.246 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 0.872665 # Design Value
+  camera4/camera_link:
+    x: 0.133 # Design Value
+    y: -0.498 # Design Value
+    z: -0.246 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: -0.872665 # Design Value
+  camera5/camera_link:
+    x: 0.095 # Design Value
+    y: 0.524 # Design Value
+    z: -0.246 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 1.0472 # Design Value
+  camera6/camera_link:
+    x: 0.095 # Design Value
+    y: -0.524 # Design Value
+    z: -0.246 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: -1.0472 # Design Value
+  camera7/camera_link:
+    x: -0.345 # Design Value
+    y: 0.244 # Design Value
+    z: -0.174 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 2.70526 # Design Value
+  camera8/camera_link:
+    x: -0.345 # Design Value
+    y: -0.244 # Design Value
+    z: -0.174 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: -2.70526 # Design Value
+  camera9/camera_link:
+    x: -0.362 # Design Value
+    y: 0.202 # Design Value
+    z: -0.174 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 2.79253 # Design Value
+  camera10/camera_link:
+    x: -0.362 # Design Value
+    y: -0.202 # Design Value
+    z: -0.174 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: -2.79253 # Design Value
+  hesai_top_base_link:
+    x: 0.0 # Design Value
+    y: 0.0 # Design Value
+    z: 0.0 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 4.36332298038 # Design Value
+  hesai_left_base_link:
+    x: 0.0 # Design Value
+    y: 0.564 # Design Value
+    z: -0.300 # Design Value
+    roll: 0.872665 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 3.14159265359 # Design Value
+  hesai_right_base_link:
+    x: 0.0 # Design Value
+    y: -0.564 # Design Value
+    z: -0.300 # Design Value
+    roll: 0.69813132679 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 0.0 # Design Value
+  gnss_link:
+    x: -0.279 # Design Value
+    y: 0.0 # Design Value
+    z: -0.160 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 0.0 # Design Value
+  tamagawa/imu_link:
+    x: -0.129 # Design Value
+    y: 0.0 # Design Value
+    z: -0.160 # Design Value
+    roll: 3.14159265359
+    pitch: 0.0 # Design Value
+    yaw: 3.14159265359 # Design Value
diff --git a/aip_xx1_gen2_description/config/sensors_calibration.yaml b/aip_xx1_gen2_description/config/sensors_calibration.yaml
new file mode 100644
index 00000000..a57d3ea9
--- /dev/null
+++ b/aip_xx1_gen2_description/config/sensors_calibration.yaml
@@ -0,0 +1,71 @@
+base_link:
+  sensor_kit_base_link:
+    x: 0.9
+    y: 0.0
+    z: 2.0
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  hesai_front_left_base_link:
+    x: 3.373 # Design Value
+    y: 0.740 # Design Value
+    z: 0.5482
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 2.44346132679 # Design Value
+  hesai_front_right_base_link:
+    x: 3.373 # Design Value
+    y: -0.740 # Design Value
+    z: 0.5482
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 0.69813132679 # 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
+  front_center/radar_link:
+    x: 3.520 # Design Value
+    y: 0.0 # Design Value
+    z: 0.6352
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 0.0 # Design Value
+  front_right/radar_link:
+    x: 3.384 # Design Value
+    y: -0.7775 # Design Value
+    z: 0.410
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: -1.22173 # Design Value
+  front_left/radar_link:
+    x: 3.384 # Design Value
+    y: 0.7775 # Design Value
+    z: 0.410
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 1.22173 # Design Value
+  rear_center/radar_link:
+    x: -0.858 # Design Value
+    y: 0.0 # Design Value
+    z: 0.520
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 3.141592 # Design Value
+  rear_right/radar_link:
+    x: -0.782 # Design Value
+    y: -0.761 # Design Value
+    z: 0.520
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: -2.0944 # Design Value
+  rear_left/radar_link:
+    x: -0.782 # Design Value
+    y: 0.761 # Design Value
+    z: 0.520
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 2.0944 # Design Value
diff --git a/aip_xx1_gen2_description/package.xml b/aip_xx1_gen2_description/package.xml
new file mode 100644
index 00000000..b35b48e0
--- /dev/null
+++ b/aip_xx1_gen2_description/package.xml
@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>aip_xx1_description</name>
+  <version>0.1.0</version>
+  <description>The aip_xx1_description package</description>
+
+  <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
+  <license>Apache 2</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <depend>velodyne_description</depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/aip_xx1_gen2_description/urdf/sensor_kit.xacro b/aip_xx1_gen2_description/urdf/sensor_kit.xacro
new file mode 100644
index 00000000..8830a4d3
--- /dev/null
+++ b/aip_xx1_gen2_description/urdf/sensor_kit.xacro
@@ -0,0 +1,253 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:macro name="sensor_kit_macro" params="parent x y z roll pitch yaw">
+    <xacro:include filename="$(find pandar_description)/urdf/pandar_xt32.xacro"/>
+    <xacro:include filename="$(find pandar_description)/urdf/pandar_ot128.xacro"/>
+    <xacro:include filename="$(find velodyne_description)/urdf/VLP-16.urdf.xacro"/>
+    <xacro:include filename="$(find camera_description)/urdf/monocular_camera.xacro"/>
+    <xacro:include filename="$(find imu_description)/urdf/imu.xacro"/>
+
+    <!-- <xacro:property name="pi" value="3.1415926835897931"/> -->
+    <xacro:arg name="gpu" default="false"/>
+    <xacro:arg name="config_dir" default="$(find aip_xx1_description)/config"/>
+
+    <xacro:property name="sensor_kit_base_link" default="sensor_kit_base_link"/>
+
+    <joint name="${sensor_kit_base_link}_joint" type="fixed">
+      <origin rpy="${roll} ${pitch} ${yaw}" xyz="${x} ${y} ${z}"/>
+      <parent link="${parent}"/>
+      <child link="${sensor_kit_base_link}"/>
+    </joint>
+    <link name="${sensor_kit_base_link}">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </link>
+
+    <!-- sensor -->
+    <xacro:property name="calibration" value="${xacro.load_yaml('$(arg config_dir)/sensor_kit_calibration.yaml')}"/>
+    <!-- lidar -->
+    <xacro:PandarOT-128
+      name="hesai_top"
+      parent="sensor_kit_base_link"
+      x="${calibration['sensor_kit_base_link']['hesai_top_base_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['hesai_top_base_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['hesai_top_base_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['hesai_top_base_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['hesai_top_base_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['hesai_top_base_link']['yaw']}"
+    />
+    <xacro:PandarXT-32
+      name="hesai_side_right"
+      parent="sensor_kit_base_link"
+      x="${calibration['sensor_kit_base_link']['hesai_right_base_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['hesai_right_base_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['hesai_right_base_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['hesai_right_base_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['hesai_right_base_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['hesai_right_base_link']['yaw']}"
+    />
+    <xacro:PandarXT-32
+      name="hesai_side_left"
+      parent="sensor_kit_base_link"
+      x="${calibration['sensor_kit_base_link']['hesai_left_base_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['hesai_left_base_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['hesai_left_base_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['hesai_left_base_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['hesai_left_base_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['hesai_left_base_link']['yaw']}"
+    />
+
+    <!-- camera -->
+    <xacro:monocular_camera_macro
+      name="camera0/camera"
+      parent="sensor_kit_base_link"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['camera0/camera_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['camera0/camera_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['camera0/camera_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['camera0/camera_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['camera0/camera_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['camera0/camera_link']['yaw']}"
+      fps="30"
+      width="800"
+      height="400"
+      fov="1.3"
+    />
+    <xacro:monocular_camera_macro
+      name="camera1/camera"
+      parent="sensor_kit_base_link"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['camera1/camera_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['camera1/camera_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['camera1/camera_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['camera1/camera_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['camera1/camera_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['camera1/camera_link']['yaw']}"
+      fps="30"
+      width="800"
+      height="400"
+      fov="1.3"
+    />
+    <xacro:monocular_camera_macro
+      name="camera2/camera"
+      parent="sensor_kit_base_link"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['camera2/camera_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['camera2/camera_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['camera2/camera_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['camera2/camera_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['camera2/camera_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['camera2/camera_link']['yaw']}"
+      fps="30"
+      width="800"
+      height="400"
+      fov="1.3"
+    />
+    <xacro:monocular_camera_macro
+      name="camera3/camera"
+      parent="sensor_kit_base_link"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['camera3/camera_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['camera3/camera_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['camera3/camera_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['camera3/camera_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['camera3/camera_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['camera3/camera_link']['yaw']}"
+      fps="30"
+      width="800"
+      height="400"
+      fov="1.3"
+    />
+    <xacro:monocular_camera_macro
+      name="camera4/camera"
+      parent="sensor_kit_base_link"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['camera4/camera_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['camera4/camera_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['camera4/camera_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['camera4/camera_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['camera4/camera_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['camera4/camera_link']['yaw']}"
+      fps="30"
+      width="800"
+      height="400"
+      fov="1.3"
+    />
+    <xacro:monocular_camera_macro
+      name="camera5/camera"
+      parent="sensor_kit_base_link"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['camera5/camera_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['camera5/camera_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['camera5/camera_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['camera5/camera_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['camera5/camera_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['camera5/camera_link']['yaw']}"
+      fps="30"
+      width="800"
+      height="400"
+      fov="1.3"
+    />
+    <xacro:monocular_camera_macro
+      name="camera6/camera"
+      parent="sensor_kit_base_link"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['camera6/camera_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['camera6/camera_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['camera6/camera_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['camera6/camera_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['camera6/camera_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['camera6/camera_link']['yaw']}"
+      fps="30"
+      width="800"
+      height="400"
+      fov="1.3"
+    />
+    <xacro:monocular_camera_macro
+      name="camera7/camera"
+      parent="sensor_kit_base_link"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['camera7/camera_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['camera7/camera_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['camera7/camera_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['camera7/camera_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['camera7/camera_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['camera7/camera_link']['yaw']}"
+      fps="30"
+      width="800"
+      height="400"
+      fov="1.3"
+    />
+    <xacro:monocular_camera_macro
+      name="camera8/camera"
+      parent="sensor_kit_base_link"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['camera8/camera_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['camera8/camera_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['camera8/camera_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['camera8/camera_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['camera8/camera_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['camera8/camera_link']['yaw']}"
+      fps="30"
+      width="800"
+      height="400"
+      fov="1.3"
+    />
+    <xacro:monocular_camera_macro
+      name="camera9/camera"
+      parent="sensor_kit_base_link"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['camera9/camera_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['camera9/camera_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['camera9/camera_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['camera9/camera_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['camera9/camera_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['camera9/camera_link']['yaw']}"
+      fps="30"
+      width="800"
+      height="400"
+      fov="1.3"
+    />
+    <xacro:monocular_camera_macro
+      name="camera10/camera"
+      parent="sensor_kit_base_link"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['camera10/camera_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['camera10/camera_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['camera10/camera_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['camera10/camera_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['camera10/camera_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['camera10/camera_link']['yaw']}"
+      fps="30"
+      width="800"
+      height="400"
+      fov="1.3"
+    />
+    <!-- gnss -->
+    <xacro:imu_macro
+      name="gnss"
+      parent="sensor_kit_base_link"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['gnss_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['gnss_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['gnss_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['gnss_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['gnss_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['gnss_link']['yaw']}"
+      fps="100"
+    />
+    <!-- imu -->
+    <xacro:imu_macro
+      name="tamagawa/imu"
+      parent="sensor_kit_base_link"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['tamagawa/imu_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['tamagawa/imu_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['tamagawa/imu_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['tamagawa/imu_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['tamagawa/imu_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['tamagawa/imu_link']['yaw']}"
+      fps="100"
+    />
+  </xacro:macro>
+
+</robot>
diff --git a/aip_xx1_gen2_description/urdf/sensors.xacro b/aip_xx1_gen2_description/urdf/sensors.xacro
new file mode 100644
index 00000000..64dbf6bb
--- /dev/null
+++ b/aip_xx1_gen2_description/urdf/sensors.xacro
@@ -0,0 +1,121 @@
+<?xml version="1.0"?>
+<robot name="vehicle" xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:arg name="config_dir" default="$(find aip_xx1_description)/config"/>
+  <xacro:property name="calibration" value="${xacro.load_yaml('$(arg config_dir)/sensors_calibration.yaml')}"/>
+
+  <!-- sensor kit -->
+  <xacro:include filename="sensor_kit.xacro"/>
+  <xacro:sensor_kit_macro
+    parent="base_link"
+    x="${calibration['base_link']['sensor_kit_base_link']['x']}"
+    y="${calibration['base_link']['sensor_kit_base_link']['y']}"
+    z="${calibration['base_link']['sensor_kit_base_link']['z']}"
+    roll="${calibration['base_link']['sensor_kit_base_link']['roll']}"
+    pitch="${calibration['base_link']['sensor_kit_base_link']['pitch']}"
+    yaw="${calibration['base_link']['sensor_kit_base_link']['yaw']}"
+  />
+  <!-- embedded lidar sensors -->
+  <!-- <xacro:include filename="$(find velodyne_description)/urdf/VLP-16.urdf.xacro"/>
+  <xacro:VLP-16
+    parent="base_link"
+    name="velodyne_rear"
+    topic="velodyne_rear/velodyne_points"
+    hz="10"
+    samples="220"
+    gpu="false"
+  >
+    <origin
+      xyz="${calibration['base_link']['velodyne_rear_base_link']['x']}
+           ${calibration['base_link']['velodyne_rear_base_link']['y']}
+           ${calibration['base_link']['velodyne_rear_base_link']['z']}"
+      rpy="${calibration['base_link']['velodyne_rear_base_link']['roll']}
+           ${calibration['base_link']['velodyne_rear_base_link']['pitch']}
+           ${calibration['base_link']['velodyne_rear_base_link']['yaw']}"
+    />
+  </xacro:VLP-16> -->
+  <xacro:include filename="$(find pandar_description)/urdf/pandar_xt32.xacro"/>
+  <xacro:PandarXT-32
+    name="hesai_front_left"
+    parent="base_link"
+    x="${calibration['base_link']['hesai_front_left_base_link']['x']}"
+    y="${calibration['base_link']['hesai_front_left_base_link']['y']}"
+    z="${calibration['base_link']['hesai_front_left_base_link']['z']}"
+    roll="${calibration['base_link']['hesai_front_left_base_link']['roll']}"
+    pitch="${calibration['base_link']['hesai_front_left_base_link']['pitch']}"
+    yaw="${calibration['base_link']['hesai_front_left_base_link']['yaw']}"
+  />
+  <xacro:PandarXT-32
+    name="hesai_front_right"
+    parent="base_link"
+    x="${calibration['base_link']['hesai_front_right_base_link']['x']}"
+    y="${calibration['base_link']['hesai_front_right_base_link']['y']}"
+    z="${calibration['base_link']['hesai_front_right_base_link']['z']}"
+    roll="${calibration['base_link']['hesai_front_right_base_link']['roll']}"
+    pitch="${calibration['base_link']['hesai_front_right_base_link']['pitch']}"
+    yaw="${calibration['base_link']['hesai_front_right_base_link']['yaw']}"
+  />
+
+  <!-- embedded radar sensors -->
+  <xacro:include filename="$(find radar_description)/urdf/radar.xacro"/>
+  <xacro:radar_macro
+    name="front_center/radar_link"
+    parent="base_link"
+    x="${calibration['base_link']['front_center/radar_link']['x']}"
+    y="${calibration['base_link']['front_center/radar_link']['y']}"
+    z="${calibration['base_link']['front_center/radar_link']['z']}"
+    roll="${calibration['base_link']['front_center/radar_link']['roll']}"
+    pitch="${calibration['base_link']['front_center/radar_link']['pitch']}"
+    yaw="${calibration['base_link']['front_center/radar_link']['yaw']}"
+  />
+  <xacro:radar_macro
+    name="front_right/radar_link"
+    parent="base_link"
+    x="${calibration['base_link']['front_right/radar_link']['x']}"
+    y="${calibration['base_link']['front_right/radar_link']['y']}"
+    z="${calibration['base_link']['front_right/radar_link']['z']}"
+    roll="${calibration['base_link']['front_right/radar_link']['roll']}"
+    pitch="${calibration['base_link']['front_right/radar_link']['pitch']}"
+    yaw="${calibration['base_link']['front_right/radar_link']['yaw']}"
+  />
+  <xacro:radar_macro
+    name="front_left/radar_link"
+    parent="base_link"
+    x="${calibration['base_link']['front_left/radar_link']['x']}"
+    y="${calibration['base_link']['front_left/radar_link']['y']}"
+    z="${calibration['base_link']['front_left/radar_link']['z']}"
+    roll="${calibration['base_link']['front_left/radar_link']['roll']}"
+    pitch="${calibration['base_link']['front_left/radar_link']['pitch']}"
+    yaw="${calibration['base_link']['front_left/radar_link']['yaw']}"
+  />
+  <xacro:radar_macro
+    name="rear_center/radar_link"
+    parent="base_link"
+    x="${calibration['base_link']['rear_center/radar_link']['x']}"
+    y="${calibration['base_link']['rear_center/radar_link']['y']}"
+    z="${calibration['base_link']['rear_center/radar_link']['z']}"
+    roll="${calibration['base_link']['rear_center/radar_link']['roll']}"
+    pitch="${calibration['base_link']['rear_center/radar_link']['pitch']}"
+    yaw="${calibration['base_link']['rear_center/radar_link']['yaw']}"
+  />
+  <xacro:radar_macro
+    name="rear_right/radar_link"
+    parent="base_link"
+    x="${calibration['base_link']['rear_right/radar_link']['x']}"
+    y="${calibration['base_link']['rear_right/radar_link']['y']}"
+    z="${calibration['base_link']['rear_right/radar_link']['z']}"
+    roll="${calibration['base_link']['rear_right/radar_link']['roll']}"
+    pitch="${calibration['base_link']['rear_right/radar_link']['pitch']}"
+    yaw="${calibration['base_link']['rear_right/radar_link']['yaw']}"
+  />
+  <xacro:radar_macro
+    name="rear_left/radar_link"
+    parent="base_link"
+    x="${calibration['base_link']['rear_left/radar_link']['x']}"
+    y="${calibration['base_link']['rear_left/radar_link']['y']}"
+    z="${calibration['base_link']['rear_left/radar_link']['z']}"
+    roll="${calibration['base_link']['rear_left/radar_link']['roll']}"
+    pitch="${calibration['base_link']['rear_left/radar_link']['pitch']}"
+    yaw="${calibration['base_link']['rear_left/radar_link']['yaw']}"
+  />
+</robot>
diff --git a/aip_xx1_launch/config/radar_simple_object_merger.param.yaml b/aip_xx1_launch/config/radar_simple_object_merger.param.yaml
deleted file mode 100644
index a817e0b7..00000000
--- a/aip_xx1_launch/config/radar_simple_object_merger.param.yaml
+++ /dev/null
@@ -1,6 +0,0 @@
-/**:
-  ros__parameters:
-    update_rate_hz: 20.0
-    new_frame_id: "base_link"
-    timeout_threshold: 1.0
-    input_topics: ["/sensing/radar/front_center/detected_objects", "/sensing/radar/front_left/detected_objects", "/sensing/radar/rear_left/detected_objects", "/sensing/radar/rear_center/detected_objects", "/sensing/radar/rear_right/detected_objects", "/sensing/radar/front_right/detected_objects"]

From aa5c2dc14a3dced2f96ddb5c2a48638f76282a8a Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Mon, 17 Jun 2024 07:44:51 +0000
Subject: [PATCH 35/41] ci(pre-commit): autofix

---
 aip_xx1_description/config/sensor_kit_calibration.yaml | 2 +-
 aip_xx1_description/config/sensors_calibration.yaml    | 2 +-
 aip_xx1_description/urdf/sensor_kit.xacro              | 2 +-
 aip_xx1_description/urdf/sensors.xacro                 | 2 +-
 4 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/aip_xx1_description/config/sensor_kit_calibration.yaml b/aip_xx1_description/config/sensor_kit_calibration.yaml
index b3c920c6..ab417b52 100644
--- a/aip_xx1_description/config/sensor_kit_calibration.yaml
+++ b/aip_xx1_description/config/sensor_kit_calibration.yaml
@@ -89,4 +89,4 @@ sensor_kit_base_link:
     z: 0.0
     roll: 3.14159265359
     pitch: 0.0
-    yaw: 3.14159265359
\ No newline at end of file
+    yaw: 3.14159265359
diff --git a/aip_xx1_description/config/sensors_calibration.yaml b/aip_xx1_description/config/sensors_calibration.yaml
index c7389f7e..e8c4b75e 100644
--- a/aip_xx1_description/config/sensors_calibration.yaml
+++ b/aip_xx1_description/config/sensors_calibration.yaml
@@ -33,4 +33,4 @@ base_link:
     z: 1.631
     roll: -0.02
     pitch: 0.7281317
-    yaw: 3.141592
\ No newline at end of file
+    yaw: 3.141592
diff --git a/aip_xx1_description/urdf/sensor_kit.xacro b/aip_xx1_description/urdf/sensor_kit.xacro
index e4a6c40d..ef36763f 100644
--- a/aip_xx1_description/urdf/sensor_kit.xacro
+++ b/aip_xx1_description/urdf/sensor_kit.xacro
@@ -225,4 +225,4 @@
     />
   </xacro:macro>
 
-</robot>
\ No newline at end of file
+</robot>
diff --git a/aip_xx1_description/urdf/sensors.xacro b/aip_xx1_description/urdf/sensors.xacro
index 52299371..0484bdc3 100644
--- a/aip_xx1_description/urdf/sensors.xacro
+++ b/aip_xx1_description/urdf/sensors.xacro
@@ -69,4 +69,4 @@
     yaw="${calibration['base_link']['ars408_front_center']['yaw']}"
   />
 
-</robot>
\ No newline at end of file
+</robot>

From d0fbd1a6cb98492b9d5eb90afc29ae588b017f95 Mon Sep 17 00:00:00 2001
From: Yuxuan Liu <uken.ryu.2@tier4.jp>
Date: Mon, 17 Jun 2024 16:46:19 +0900
Subject: [PATCH 36/41] fix Spell-check

Signed-off-by: Yuxuan Liu <uken.ryu.2@tier4.jp>
---
 aip_xx1_gen2_launch/launch/radar.launch.xml | 1 -
 1 file changed, 1 deletion(-)

diff --git a/aip_xx1_gen2_launch/launch/radar.launch.xml b/aip_xx1_gen2_launch/launch/radar.launch.xml
index 1f9b16e6..198a2dfc 100644
--- a/aip_xx1_gen2_launch/launch/radar.launch.xml
+++ b/aip_xx1_gen2_launch/launch/radar.launch.xml
@@ -9,7 +9,6 @@
   <group>
     <push-ros-namespace namespace="radar"/>
 
-    <!--node pkg="tf2_ros" exec="static_transform_publisher" name="tf_broadcaster" output="screen" args="$(var wheel_base) 0 0 0 0 0 base_link autosar"/-->
     <node pkg="topic_tools" exec="transform" name="steer_angle_transform" output="screen" args="/vehicle/status/steering_status /vehicle/status/steering_status_scalar std_msgs/msg/Float32 'std_msgs.msg.Float32(data=m.steering_tire_angle)'  --import autoware_auto_vehicle_msgs std_msgs --wait-for-start"/>
     <!-- ros2 run topic_tools transform /vehicle/status/steering_status /vehicle/status/steering_status_scalar std_msgs/msg/Float64 'std_msgs.msg.Float64(data=m.steering_tire_angle)'  \-\-import autoware_auto_vehicle_msgs std_msgs -->
 

From 573a281d139928aace6397ee008c6226b10f0b31 Mon Sep 17 00:00:00 2001
From: Yuxuan Liu <uken.ryu.2@tier4.jp>
Date: Mon, 17 Jun 2024 16:48:15 +0900
Subject: [PATCH 37/41] fix package name

Signed-off-by: Yuxuan Liu <uken.ryu.2@tier4.jp>
---
 aip_xx1_gen2_description/CMakeLists.txt | 2 +-
 aip_xx1_gen2_description/package.xml    | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/aip_xx1_gen2_description/CMakeLists.txt b/aip_xx1_gen2_description/CMakeLists.txt
index 50723262..549de0f8 100644
--- a/aip_xx1_gen2_description/CMakeLists.txt
+++ b/aip_xx1_gen2_description/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(aip_xx1_description)
+project(aip_xx1_gen2_description)
 
 find_package(ament_cmake_auto REQUIRED)
 
diff --git a/aip_xx1_gen2_description/package.xml b/aip_xx1_gen2_description/package.xml
index b35b48e0..9b010d72 100644
--- a/aip_xx1_gen2_description/package.xml
+++ b/aip_xx1_gen2_description/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="2">
-  <name>aip_xx1_description</name>
+  <name>aip_xx1_gen2_description</name>
   <version>0.1.0</version>
-  <description>The aip_xx1_description package</description>
+  <description>The aip_xx1_gen2_description package</description>
 
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <license>Apache 2</license>

From 9d07d76ed44bb486deb28ef15795cdda538565b7 Mon Sep 17 00:00:00 2001
From: N-Eiki <eiki.nagata.2@tier4.jp>
Date: Tue, 18 Jun 2024 16:25:38 +0900
Subject: [PATCH 38/41] fix: recover radar.xacro to make gen1 operational

Signed-off-by: N-Eiki <eiki.nagata.2@tier4.jp>
---
 aip_xx1_description/urdf/radar.xacro | 31 ++++++++++++++++++++++++++++
 1 file changed, 31 insertions(+)
 create mode 100644 aip_xx1_description/urdf/radar.xacro

diff --git a/aip_xx1_description/urdf/radar.xacro b/aip_xx1_description/urdf/radar.xacro
new file mode 100644
index 00000000..994c124b
--- /dev/null
+++ b/aip_xx1_description/urdf/radar.xacro
@@ -0,0 +1,31 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:macro name="radar_macro" params="name parent x y z roll pitch yaw">
+    <xacro:property name="mass" value="0.01" />
+
+    <joint name="${name}_base_mount_joint" type="fixed">
+      <origin rpy="${roll} ${pitch} ${yaw}" xyz="${x} ${y} ${z}"/>
+      <parent link="${parent}"/>
+      <child  link="${name}"/>
+    </joint>
+
+    <link name="${name}">
+      <visual>
+        <geometry>
+          <box size="0.03 0.1 0.1"/>
+        </geometry>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <material name="black">
+          <color rgba="0.1 0.1 0.1 1.0"/>
+        </material>
+      </visual>
+      <inertial>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <mass value="${mass}"/>
+        <inertia ixx="${(0.03*0.03+0.03*0.03)*mass/12.0}" ixy="0.0" ixz="0.0"
+                 iyy="${(0.1*0.1+0.1*0.1)*mass/12.0}" iyz="0.0"
+                 izz="${(0.1*0.1+0.1*0.1)*mass/12.0}"/>
+      </inertial>
+    </link>
+  </xacro:macro>
+</robot>
\ No newline at end of file

From b76f34f076d9d19466984970e4831a488a1f7c18 Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Tue, 18 Jun 2024 07:26:44 +0000
Subject: [PATCH 39/41] ci(pre-commit): autofix

---
 aip_xx1_description/urdf/radar.xacro | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/aip_xx1_description/urdf/radar.xacro b/aip_xx1_description/urdf/radar.xacro
index 994c124b..8b0f8d4b 100644
--- a/aip_xx1_description/urdf/radar.xacro
+++ b/aip_xx1_description/urdf/radar.xacro
@@ -28,4 +28,4 @@
       </inertial>
     </link>
   </xacro:macro>
-</robot>
\ No newline at end of file
+</robot>

From 143346df61981653b70d41c311ca2d68fc45fa94 Mon Sep 17 00:00:00 2001
From: N-Eiki <eiki.nagata.2@tier4.jp>
Date: Wed, 19 Jun 2024 14:22:16 +0900
Subject: [PATCH 40/41] update aip_xx1 for gen2

Signed-off-by: N-Eiki <eiki.nagata.2@tier4.jp>
---
 aip_xx1_gen2_description/CMakeLists.txt       |   2 +-
 aip_xx1_gen2_description/package.xml          |   4 +-
 aip_xx1_gen2_launch/CMakeLists.txt            |   2 +-
 .../sensor_kit.param.yaml                     |   9 +
 .../config/gyro_bias_estimator.param.yaml     |   6 +
 aip_xx1_gen2_launch/config/lidar_gen2.yaml    |  69 +++++++
 aip_xx1_gen2_launch/config/lidar_launch.yaml  |  70 +++++++
 aip_xx1_gen2_launch/launch/imu.launch.xml     |  27 ++-
 aip_xx1_gen2_launch/launch/lidar.launch.py    | 188 ++++++++++++++++++
 aip_xx1_gen2_launch/launch/lidar.launch.xml   |  23 ++-
 .../launch/pointcloud_preprocessor.launch.py  |  56 ++----
 aip_xx1_gen2_launch/launch/radar.launch.xml   |  35 +++-
 aip_xx1_gen2_launch/launch/sensing.launch.xml |   4 +-
 aip_xx1_gen2_launch/package.xml               |   4 +-
 14 files changed, 440 insertions(+), 59 deletions(-)
 create mode 100644 aip_xx1_gen2_launch/config/gyro_bias_estimator.param.yaml
 create mode 100644 aip_xx1_gen2_launch/config/lidar_gen2.yaml
 create mode 100644 aip_xx1_gen2_launch/config/lidar_launch.yaml
 create mode 100644 aip_xx1_gen2_launch/launch/lidar.launch.py

diff --git a/aip_xx1_gen2_description/CMakeLists.txt b/aip_xx1_gen2_description/CMakeLists.txt
index 549de0f8..50723262 100644
--- a/aip_xx1_gen2_description/CMakeLists.txt
+++ b/aip_xx1_gen2_description/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(aip_xx1_gen2_description)
+project(aip_xx1_description)
 
 find_package(ament_cmake_auto REQUIRED)
 
diff --git a/aip_xx1_gen2_description/package.xml b/aip_xx1_gen2_description/package.xml
index 9b010d72..b35b48e0 100644
--- a/aip_xx1_gen2_description/package.xml
+++ b/aip_xx1_gen2_description/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="2">
-  <name>aip_xx1_gen2_description</name>
+  <name>aip_xx1_description</name>
   <version>0.1.0</version>
-  <description>The aip_xx1_gen2_description package</description>
+  <description>The aip_xx1_description package</description>
 
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <license>Apache 2</license>
diff --git a/aip_xx1_gen2_launch/CMakeLists.txt b/aip_xx1_gen2_launch/CMakeLists.txt
index 7f8d9f60..babf05d8 100644
--- a/aip_xx1_gen2_launch/CMakeLists.txt
+++ b/aip_xx1_gen2_launch/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(aip_xx1_gen2_launch)
+project(aip_xx1_launch)
 
 find_package(ament_cmake_auto REQUIRED)
 ament_auto_find_build_dependencies()
diff --git a/aip_xx1_gen2_launch/config/diagnostic_aggregator/sensor_kit.param.yaml b/aip_xx1_gen2_launch/config/diagnostic_aggregator/sensor_kit.param.yaml
index ab32e0fe..56fc9dbd 100644
--- a/aip_xx1_gen2_launch/config/diagnostic_aggregator/sensor_kit.param.yaml
+++ b/aip_xx1_gen2_launch/config/diagnostic_aggregator/sensor_kit.param.yaml
@@ -18,6 +18,15 @@
           type: diagnostic_aggregator/AnalyzerGroup
           path: lidar
           analyzers:
+            performance_monitoring:
+              type: diagnostic_aggregator/AnalyzerGroup
+              path: performance_monitoring
+              analyzers:
+                blockage:
+                  type: diagnostic_aggregator/GenericAnalyzer
+                  path: blockage
+                  contains: [": blockage_validation"]
+                  timeout: 1.0
             velodyne:
               type: diagnostic_aggregator/AnalyzerGroup
               path: velodyne
diff --git a/aip_xx1_gen2_launch/config/gyro_bias_estimator.param.yaml b/aip_xx1_gen2_launch/config/gyro_bias_estimator.param.yaml
new file mode 100644
index 00000000..d552569f
--- /dev/null
+++ b/aip_xx1_gen2_launch/config/gyro_bias_estimator.param.yaml
@@ -0,0 +1,6 @@
+/**:
+  ros__parameters:
+    gyro_bias_threshold: 0.008 # [rad/s]
+    timer_callback_interval_sec: 0.5 # [sec]
+    diagnostics_updater_interval_sec: 0.5 # [sec]
+    straight_motion_ang_vel_upper_limit: 0.015 # [rad/s]
diff --git a/aip_xx1_gen2_launch/config/lidar_gen2.yaml b/aip_xx1_gen2_launch/config/lidar_gen2.yaml
new file mode 100644
index 00000000..fcfefdd4
--- /dev/null
+++ b/aip_xx1_gen2_launch/config/lidar_gen2.yaml
@@ -0,0 +1,69 @@
+launches:
+  - sensor_type: hesai_OT128
+    namespace: top
+    parameters:
+      max_range: 300.0
+      sensor_frame: hesai_top
+      sensor_ip: 192.168.1.201
+      data_port: 2368
+      scan_phase: 160
+      vertical_bins: 128
+  - sensor_type: hesai_XT32
+    namespace: front_left
+    parameters:
+      max_range: 300.0
+      sensor_frame: hesai_front_left
+      sensor_ip: 192.168.1.21
+      data_port: 2369
+      scan_phase: 50.0
+      cloud_min_angle: 50
+      cloud_max_angle: 320
+      vertical_bins: 16
+      horizontal_ring_id: 0
+  - sensor_type: hesai_XT32
+    namespace: front_right
+    parameters:
+      max_range: 300.0
+      sensor_frame: hesai_front_right
+      sensor_ip: 192.168.1.22
+      data_port: 2370
+      scan_phase: 310.0
+      cloud_min_angle: 40
+      cloud_max_angle: 310
+  - sensor_type: hesai_XT32
+    namespace: side_left
+    parameters:
+      max_range: 10.0
+      sensor_frame: hesai_side_left
+      sensor_ip: 192.168.1.23
+      data_port: 2371
+      scan_phase: 90.0
+      cloud_min_angle: 90
+      cloud_max_angle: 270
+  - sensor_type: hesai_XT32
+    namespace: side_right
+    parameters:
+      max_range: 10.0
+      sensor_frame: hesai_side_right
+      sensor_ip: 192.168.1.24
+      data_port: 2372
+      scan_phase: 270.0
+      cloud_min_angle: 90
+      cloud_max_angle: 270
+
+preprocessor:
+  input_topics:
+    - /sensing/lidar/top/pointcloud_before_sync
+    - /sensing/lidar/side_left/pointcloud_before_sync
+    - /sensing/lidar/side_right/pointcloud_before_sync
+    - /sensing/lidar/front_left/pointcloud_before_sync
+    - /sensing/lidar/front_right/pointcloud_before_sync
+  input_offset:
+    - 0.035
+    - 0.025
+    - 0.025
+    - 0.025
+    - 0.025
+  timeout_sec: 0.095
+  input_twist_topic_type: twist
+  publish_synchronized_pointcloud: true
diff --git a/aip_xx1_gen2_launch/config/lidar_launch.yaml b/aip_xx1_gen2_launch/config/lidar_launch.yaml
new file mode 100644
index 00000000..c702f766
--- /dev/null
+++ b/aip_xx1_gen2_launch/config/lidar_launch.yaml
@@ -0,0 +1,70 @@
+launches:
+  - sensor_type: velodyne_VLS128
+    namespace: top
+    parameters:
+      max_range: 250.0
+      sensor_frame: velodyne_top
+      sensor_ip: 192.168.1.201
+      data_port: 2368
+      scan_phase: 300.0
+      vertical_bins: 128
+      horizontal_ring_id: 64
+      horizontal_resolution: 0.4
+      is_channel_order_top2down: false
+  - sensor_type: velodyne_VLP16
+    namespace: left
+    parameters:
+      max_range: 5.0
+      sensor_frame: velodyne_left
+      sensor_ip: 192.168.1.202
+      data_port: 2369
+      scan_phase: 180.0
+      cloud_min_angle: 300
+      cloud_max_angle: 60
+      vertical_bins: 16
+      horizontal_ring_id: 0
+      horizontal_resolution: 0.4
+      is_channel_order_top2down: false
+  - sensor_type: velodyne_VLP16
+    namespace: right
+    parameters:
+      max_range: 5.0
+      sensor_frame: velodyne_right
+      sensor_ip: 192.168.1.203
+      data_port: 2370
+      scan_phase: 180.0
+      cloud_min_angle: 300
+      cloud_max_angle: 60
+      vertical_bins: 16
+      horizontal_ring_id: 0
+      horizontal_resolution: 0.4
+      is_channel_order_top2down: false
+  - sensor_type: velodyne_VLP16
+    namespace: rear
+    parameters:
+      max_range: 1.5
+      sensor_frame: velodyne_rear
+      sensor_ip: 192.168.1.204
+      data_port: 2371
+      scan_phase: 180.0
+      cloud_min_angle: 300
+      cloud_max_angle: 60
+      vertical_bins: 16
+      horizontal_ring_id: 0
+      horizontal_resolution: 0.4
+      is_channel_order_top2down: false
+
+preprocessor:
+  input_topics:
+    - /sensing/lidar/top/pointcloud
+    - /sensing/lidar/left/pointcloud
+    - /sensing/lidar/right/pointcloud
+    - /sensing/lidar/rear/pointcloud
+  input_offset:
+    - 0.035
+    - 0.025
+    - 0.025
+    - 0.025
+  timeout_sec: 0.095
+  input_twist_topic_type: twist
+  publish_synchronized_pointcloud: false
diff --git a/aip_xx1_gen2_launch/launch/imu.launch.xml b/aip_xx1_gen2_launch/launch/imu.launch.xml
index 7f1f0337..29795ae1 100644
--- a/aip_xx1_gen2_launch/launch/imu.launch.xml
+++ b/aip_xx1_gen2_launch/launch/imu.launch.xml
@@ -1,14 +1,27 @@
 <launch>
 
+  <arg name="launch_driver" default="true" />
+  <arg name ="vehicle_id" default="$(env VEHICLE_ID default)" />
+  <arg name="imu_connection" default="$(env IMU_CONNECTION serial)" description="serial or can" />
+
   <group>
     <push-ros-namespace namespace="imu"/>
 
-    <arg name="launch_driver" default="true" />
-    <arg name="interface" default="canImu"/>
-    <arg name="receiver_interval_sec" default="0.01"/>
-    <arg name ="vehicle_id" default="$(env VEHICLE_ID default)" />
+    <!-- Use Serial Driver to connect to IMU  -->
+    <group if="$(eval &quot;'$(var imu_connection)'=='serial'&quot;)">
+      <push-ros-namespace namespace="tamagawa"/>
+      <node pkg="tamagawa_imu_driver" name="tag_serial_driver" exec="tag_serial_driver" if="$(var launch_driver)" respawn="true" respawn_delay="10.0">
+        <remap from="imu/data_raw" to="imu_raw" />
+        <param name="port" value="/dev/imu" />
+        <param name="imu_frame_id" value="tamagawa/imu_link" />
+      </node>
+    </group>
 
-    <group>
+    <!-- Use CAN to connect to IMU  -->
+    <group if="$(eval &quot;'$(var imu_connection)'=='can'&quot;)">
+      <arg name="interface" default="canImu"/>
+      <arg name="receiver_interval_sec" default="0.01"/>
+      <arg name ="vehicle_id" default="$(env VEHICLE_ID default)" />
       <push-ros-namespace namespace="tamagawa"/>
       <include file="$(find-pkg-share ros2_socketcan)/launch/socket_can_receiver.launch.py">
         <arg name="interface" value="$(var interface)"/>
@@ -21,6 +34,7 @@
       </node>
     </group>
 
+    <!-- IMU Correction launch-->
     <arg name="imu_raw_name" default="tamagawa/imu_raw"/>
     <arg name="imu_corrector_param_file" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_xx1/imu_corrector.param.yaml"/>
     <include file="$(find-pkg-share imu_corrector)/launch/imu_corrector.launch.xml">
@@ -29,10 +43,13 @@
       <arg name="param_file" value="$(var imu_corrector_param_file)"/>
     </include>
 
+    <!-- Gyro Bias Estimator-->
+    <arg name="gyro_bias_estimator_param_file" default="$(find-pkg-share aip_xx1_launch)/config/gyro_bias_estimator.param.yaml"/>
     <include file="$(find-pkg-share imu_corrector)/launch/gyro_bias_estimator.launch.xml">
       <arg name="input_imu_raw" value="$(var imu_raw_name)"/>
       <arg name="input_odom" value="/localization/kinematic_state"/>
       <arg name="imu_corrector_param_file" value="$(var imu_corrector_param_file)"/>
+      <arg name="gyro_bias_estimator_param_file" value="$(var gyro_bias_estimator_param_file)"/>
     </include>
   </group>
 
diff --git a/aip_xx1_gen2_launch/launch/lidar.launch.py b/aip_xx1_gen2_launch/launch/lidar.launch.py
new file mode 100644
index 00000000..594d2eb4
--- /dev/null
+++ b/aip_xx1_gen2_launch/launch/lidar.launch.py
@@ -0,0 +1,188 @@
+# Copyright 2024 Tier IV, Inc. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+
+from copy import deepcopy
+import os
+from typing import Any
+from typing import List
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.actions import GroupAction
+from launch.actions import IncludeLaunchDescription
+from launch.actions import OpaqueFunction
+from launch.launch_description_sources import AnyLaunchDescriptionSource
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import EnvironmentVariable
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import PushRosNamespace
+import yaml
+
+
+def join_list_of_arguments(arguments: List[Any]) -> str:
+    """Join a list of arguments into a string, used by Include Launch Description.
+
+    Example:
+        join_list_of_arguments([1,2,3]) -> "[1, 2, 3]"
+    """
+    return f"[{', '.join([str(arg) for arg in arguments])}]"
+
+
+def generate_launch_dictionary():
+    path_dictionary = {
+        "hesai_OT128": AnyLaunchDescriptionSource(
+            os.path.join(
+                get_package_share_directory("common_sensor_launch"),
+                "launch",
+                "hesai_OT128.launch.xml",
+            )
+        ),
+        "hesai_XT32": AnyLaunchDescriptionSource(
+            os.path.join(
+                get_package_share_directory("common_sensor_launch"),
+                "launch",
+                "hesai_XT32.launch.xml",
+            )
+        ),
+        "velodyne_VLS128": AnyLaunchDescriptionSource(
+            os.path.join(
+                get_package_share_directory("common_sensor_launch"),
+                "launch",
+                "velodyne_VLS128.launch.xml",
+            )
+        ),
+        "velodyne_VLP16": AnyLaunchDescriptionSource(
+            os.path.join(
+                get_package_share_directory("common_sensor_launch"),
+                "launch",
+                "velodyne_VLP16.launch.xml",
+            )
+        ),
+        "livox_horizon": AnyLaunchDescriptionSource(
+            os.path.join(
+                get_package_share_directory("common_sensor_launch"),
+                "launch",
+                "livox_horizon.launch.py",
+            )
+        ),
+    }
+    return path_dictionary
+
+
+def load_sub_launches_from_yaml(context, *args, **kwargs):
+    def load_yaml(yaml_file_path):
+        with open(LaunchConfiguration(yaml_file_path).perform(context), "r") as f:
+            return yaml.safe_load(f)
+
+    config = load_yaml("config_file")
+
+    path_dictionary = generate_launch_dictionary()
+
+    base_parameters = {}
+    base_parameters["host_ip"] = LaunchConfiguration("host_ip")
+    base_parameters["vehicle_mirror_param_file"] = LaunchConfiguration(
+        "vehicle_mirror_param_file"
+    ).perform(context)
+    base_parameters["launch_driver"] = LaunchConfiguration("launch_driver").perform(context)
+    base_parameters["vehicle_id"] = LaunchConfiguration("vehicle_id").perform(context)
+    base_parameters["pointcloud_container_name"] = LaunchConfiguration(
+        "pointcloud_container_name"
+    ).perform(context)
+    base_parameters["enable_blockage_diag"] = LaunchConfiguration("enable_blockage_diag").perform(
+        context
+    )
+
+    sub_launch_actions = []
+    for launch in config["launches"]:
+        launch_parameters = deepcopy(base_parameters)
+        launch_parameters.update(launch["parameters"])  # dict
+        launch_parameter_list_tuple = [(str(k), str(v)) for k, v in launch_parameters.items()]
+        sub_launch_action = GroupAction(
+            [
+                PushRosNamespace(launch["namespace"]),
+                IncludeLaunchDescription(
+                    deepcopy(path_dictionary[launch["sensor_type"]]),
+                    launch_arguments=launch_parameter_list_tuple,
+                ),
+            ]
+        )
+        sub_launch_actions.append(sub_launch_action)
+
+    processor_dict = config["preprocessor"]
+    sub_launch_actions.append(
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                os.path.join(
+                    get_package_share_directory("aip_xx1_launch"),
+                    "launch",
+                    "pointcloud_preprocessor.launch.py",
+                )
+            ),
+            launch_arguments=[
+                ("base_frame", "base_link"),
+                ("use_multithread", "true"),
+                ("use_intra_process", "true"),
+                ("use_pointcloud_container", LaunchConfiguration("use_pointcloud_container")),
+                ("pointcloud_container_name", LaunchConfiguration("pointcloud_container_name")),
+                ("input_topics", join_list_of_arguments(processor_dict["input_topics"])),
+                ("input_offset", join_list_of_arguments(processor_dict["input_offset"])),
+                ("timeout_sec", str(processor_dict["timeout_sec"])),
+                ("input_twist_topic_type", str(processor_dict["input_twist_topic_type"])),
+                (
+                    "publish_synchronized_pointcloud",
+                    str(processor_dict["publish_synchronized_pointcloud"]),
+                ),
+            ],
+        )
+    )
+    return [
+        GroupAction([PushRosNamespace("lidar"), *sub_launch_actions]),
+    ]
+
+
+def generate_launch_description():
+    # Define launch arguments
+    launch_arguments = []
+    config_file_arg = DeclareLaunchArgument(
+        "config_file",
+        default_value=os.path.join(
+            get_package_share_directory("aip_xx1_launch"), "config", "lidar_launch.yaml"
+        ),
+        description="Path to the configuration file",
+    )
+    launch_arguments.append(config_file_arg)
+
+    def add_launch_arg(name: str, default_value=None, **kwargs):
+        launch_arguments.append(DeclareLaunchArgument(name, default_value=default_value, **kwargs))
+
+    add_launch_arg("launch_driver", "true")
+    add_launch_arg("host_ip", "192.168.1.10")
+    add_launch_arg("use_concat_filter", "true")
+    add_launch_arg(
+        "vehicle_id",
+        default_value=EnvironmentVariable("VEHICLE_ID", default_value="default"),
+    )
+    add_launch_arg("vehicle_mirror_param_file")
+    add_launch_arg("use_pointcloud_container", "false", description="launch pointcloud container")
+    add_launch_arg("pointcloud_container_name", "pointcloud_container")
+    add_launch_arg("enable_blockage_diag", "false")
+
+    # Create launch description with the config_file argument
+    ld = LaunchDescription(launch_arguments)
+    # Add sub-launch files dynamically based on the YAML configuration
+    ld.add_action(OpaqueFunction(function=load_sub_launches_from_yaml))
+
+    return ld
diff --git a/aip_xx1_gen2_launch/launch/lidar.launch.xml b/aip_xx1_gen2_launch/launch/lidar.launch.xml
index 7f77ad2d..b524b788 100644
--- a/aip_xx1_gen2_launch/launch/lidar.launch.xml
+++ b/aip_xx1_gen2_launch/launch/lidar.launch.xml
@@ -5,8 +5,8 @@
   <arg name="use_concat_filter" default="true"/>
   <arg name ="vehicle_id" default="$(env VEHICLE_ID default)"/>
   <arg name="vehicle_mirror_param_file"/>
-  <arg name="use_pointcloud_container" default="false" description="launch pointcloud container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
+  <arg name="enable_blockage_diag" default="false"/>
 
   <group>
     <push-ros-namespace namespace="lidar"/>
@@ -23,6 +23,11 @@
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="pointcloud_container"/>
+        <arg name="vertical_bins" value="128"/>
+        <arg name="horizontal_ring_id" value="64"/>
+        <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)"/>
       </include>
     </group>
 
@@ -40,6 +45,11 @@
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="pointcloud_container"/>
+        <arg name="vertical_bins" value="16"/>
+        <arg name="horizontal_ring_id" value="0"/>
+        <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)"/>
       </include>
     </group>
 
@@ -57,6 +67,11 @@
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="pointcloud_container"/>
+        <arg name="vertical_bins" value="16"/>
+        <arg name="horizontal_ring_id" value="0"/>
+        <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)"/>
       </include>
     </group>
 
@@ -74,6 +89,11 @@
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="pointcloud_container"/>
+        <arg name="vertical_bins" value="16"/>
+        <arg name="horizontal_ring_id" value="0"/>
+        <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)"/>
       </include>
     </group>
 
@@ -98,7 +118,6 @@
       <arg name="base_frame" value="base_link"/>
       <arg name="use_intra_process" value="true"/>
       <arg name="use_multithread" value="true"/>
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </include>
 
diff --git a/aip_xx1_gen2_launch/launch/pointcloud_preprocessor.launch.py b/aip_xx1_gen2_launch/launch/pointcloud_preprocessor.launch.py
index 4aa9736c..433b7f58 100644
--- a/aip_xx1_gen2_launch/launch/pointcloud_preprocessor.launch.py
+++ b/aip_xx1_gen2_launch/launch/pointcloud_preprocessor.launch.py
@@ -20,7 +20,6 @@
 from launch.conditions import IfCondition
 from launch.conditions import UnlessCondition
 from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import ComposableNodeContainer
 from launch_ros.actions import LoadComposableNodes
 from launch_ros.descriptions import ComposableNode
 
@@ -37,53 +36,29 @@ def launch_setup(context, *args, **kwargs):
         ],
         parameters=[
             {
-                "input_topics": [
-                    "/sensing/lidar/top/pointcloud_before_sync",
-                    "/sensing/lidar/side_left/pointcloud_before_sync",
-                    "/sensing/lidar/side_right/pointcloud_before_sync",
-                    "/sensing/lidar/front_left/pointcloud_before_sync",
-                    "/sensing/lidar/front_right/pointcloud_before_sync",
-                ],
+                "input_topics": LaunchConfiguration("input_topics"),
                 "output_frame": LaunchConfiguration("base_frame"),
-                "input_offset": [
-                    0.035,
-                    0.025,
-                    0.025,
-                    0.025,
-                    0.025,
-                ],  # each sensor will wait 60, 70, 70, 70ms
-                "timeout_sec": 0.095,  # set shorter than 100ms
-                "input_twist_topic_type": "twist",
-                "publish_synchronized_pointcloud": True,
+                "input_offset": LaunchConfiguration(
+                    "input_offset"
+                ),  # each sensor will wait 60, 70, 70, 70ms
+                "timeout_sec": LaunchConfiguration("timeout_sec"),  # set shorter than 100ms
+                "input_twist_topic_type": LaunchConfiguration("input_twist_topic_type"),
+                "publish_synchronized_pointcloud": LaunchConfiguration(
+                    "publish_synchronized_pointcloud"
+                ),
             }
         ],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )
 
-    # set container to run all required components in the same process
-    container = ComposableNodeContainer(
-        name=LaunchConfiguration("individual_container_name"),
-        namespace="",
-        package="rclcpp_components",
-        executable=LaunchConfiguration("container_executable"),
-        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
-        output="screen",
-    )
-
-    target_container = (
-        container
-        if UnlessCondition(LaunchConfiguration("use_pointcloud_container")).evaluate(context)
-        else LaunchConfiguration("pointcloud_container_name")
-    )
-
     # load concat or passthrough filter
     concat_loader = LoadComposableNodes(
         composable_node_descriptions=[concat_component],
-        target_container=target_container,
+        target_container=LaunchConfiguration("pointcloud_container_name"),
         condition=IfCondition(LaunchConfiguration("use_concat_filter")),
     )
 
-    return [container, concat_loader]
+    return [concat_loader]
 
 
 def generate_launch_description():
@@ -95,9 +70,16 @@ def add_launch_arg(name: str, default_value=None):
     add_launch_arg("base_frame", "base_link")
     add_launch_arg("use_multithread", "False")
     add_launch_arg("use_intra_process", "False")
-    add_launch_arg("use_pointcloud_container", "False")
     add_launch_arg("pointcloud_container_name", "pointcloud_container")
     add_launch_arg("individual_container_name", "concatenate_container")
+    add_launch_arg(
+        "input_topics",
+        "[/sensing/lidar/top/pointcloud, /sensing/lidar/left/pointcloud, /sensing/lidar/right/pointcloud, /sensing/lidar/rear/pointcloud]",
+    )
+    add_launch_arg("input_offset", "[0.035, 0.025, 0.025, 0.025]")
+    add_launch_arg("timeout_sec", "0.095")
+    add_launch_arg("input_twist_topic_type", "twist")
+    add_launch_arg("publish_synchronized_pointcloud", "False")
 
     set_container_executable = SetLaunchConfiguration(
         "container_executable",
diff --git a/aip_xx1_gen2_launch/launch/radar.launch.xml b/aip_xx1_gen2_launch/launch/radar.launch.xml
index 198a2dfc..41ac94b3 100644
--- a/aip_xx1_gen2_launch/launch/radar.launch.xml
+++ b/aip_xx1_gen2_launch/launch/radar.launch.xml
@@ -1,12 +1,34 @@
 <launch>
-  <arg name="launch_driver" default="true" description="do launch driver"/>
+  <arg name="ars_version" default="$(env ARS_VERSION ars408)" description="ars408 or ars548" />
 
-  <let name="odometry_topic" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
-  <let name="acceleration_topic" value="/localization/acceleration"/>
-  <let name="steering_angle_topic" value="/vehicle/status/steering_status_scalar"/>
-  <arg name="radar_tracks_msgs_converter_param_path" default="$(find-pkg-share common_sensor_launch)/config/radar_tracks_msgs_converter.param.yaml"/>
 
-  <group>
+  <group if="$(eval &quot;'$(var ars_version)'=='ars408'&quot;)">
+    <arg name="launch_driver" default="true" />
+    <arg name="input/frame" default="from_can_bus" />
+    <arg name="radar_can_device" default="canRadar" />
+
+    <push-ros-namespace namespace="radar"/>
+
+    <group>
+      <push-ros-namespace namespace="front_center"/>
+
+      <include file="$(find-pkg-share common_sensor_launch)/launch/ars408.launch.xml">
+        <arg name="launch_driver" value="$(var launch_driver)" />
+        <arg name="interface" value="$(var radar_can_device)" />
+        <arg name="input/frame" value="$(var input/frame)" />
+        <arg name="output_frame" value="ars408_front_center" />
+      </include>
+    </group>
+
+    <node pkg="topic_tools" exec="relay" name="radar_relay" output="log" args="front_center/detected_objects detected_objects"/>
+
+  </group>
+
+  <group if="$(eval &quot;'$(var ars_version)'=='ars548'&quot;)">
+    <let name="odometry_topic" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
+    <let name="acceleration_topic" value="/localization/acceleration"/>
+    <let name="steering_angle_topic" value="/vehicle/status/steering_status_scalar"/>
+    <arg name="radar_tracks_msgs_converter_param_path" default="$(find-pkg-share common_sensor_launch)/config/radar_tracks_msgs_converter.param.yaml"/>
     <push-ros-namespace namespace="radar"/>
 
     <node pkg="topic_tools" exec="transform" name="steer_angle_transform" output="screen" args="/vehicle/status/steering_status /vehicle/status/steering_status_scalar std_msgs/msg/Float32 'std_msgs.msg.Float32(data=m.steering_tire_angle)'  --import autoware_auto_vehicle_msgs std_msgs --wait-for-start"/>
@@ -210,4 +232,5 @@
       <param from="$(var merger_param_path)"/>
     </node>
   </group>
+
 </launch>
diff --git a/aip_xx1_gen2_launch/launch/sensing.launch.xml b/aip_xx1_gen2_launch/launch/sensing.launch.xml
index ba6b935c..8213cba8 100644
--- a/aip_xx1_gen2_launch/launch/sensing.launch.xml
+++ b/aip_xx1_gen2_launch/launch/sensing.launch.xml
@@ -3,17 +3,15 @@
   <arg name="launch_driver" default="true" description="do launch driver"/>
   <arg name="vehicle_mirror_param_file" description="path to the file of vehicle mirror position yaml"/>
   <arg name="perception_mode" default="camera_lidar_fusion" description="select perception mode. camera_lidar_fusion, lidar, camera"/>
-  <arg name="use_pointcloud_container" default="false" description="launch pointcloud container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name ="vehicle_id" default="$(env VEHICLE_ID default)" />
 
   <group>
 
     <!-- LiDAR Driver -->
-    <include file="$(find-pkg-share aip_xx1_launch)/launch/lidar.launch.xml">
+    <include file="$(find-pkg-share aip_xx1_launch)/launch/lidar.launch.py">
       <arg name="launch_driver" value="$(var launch_driver)" />
       <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </include>
 
diff --git a/aip_xx1_gen2_launch/package.xml b/aip_xx1_gen2_launch/package.xml
index 8f2f9df9..93246e4b 100644
--- a/aip_xx1_gen2_launch/package.xml
+++ b/aip_xx1_gen2_launch/package.xml
@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>aip_xx1_gen2_launch</name>
+  <name>aip_xx1_launch</name>
   <version>0.1.0</version>
-  <description>The aip_xx1_gen2_launch package</description>
+  <description>The aip_xx1_launch package</description>
 
   <maintainer email="hiroki.ota@tier4.jp">Hiroki OTA</maintainer>
   <license>Apache License 2.0</license>

From bd25b0834b9cf8e456a51c0c72c92e2df5f0c290 Mon Sep 17 00:00:00 2001
From: N-Eiki <eiki.nagata.2@tier4.jp>
Date: Wed, 19 Jun 2024 14:31:59 +0900
Subject: [PATCH 41/41] fix: packages name is aip_xx1_gen2_* but in these files
 written as aip_xx1_*

Signed-off-by: N-Eiki <eiki.nagata.2@tier4.jp>
---
 aip_xx1_gen2_description/CMakeLists.txt        |  2 +-
 aip_xx1_gen2_description/package.xml           |  4 ++--
 aip_xx1_gen2_description/urdf/sensor_kit.xacro |  2 +-
 aip_xx1_gen2_description/urdf/sensors.xacro    |  2 +-
 aip_xx1_gen2_launch/CMakeLists.txt             |  2 +-
 aip_xx1_gen2_launch/launch/imu.launch.xml      |  2 +-
 aip_xx1_gen2_launch/launch/lidar.launch.py     |  4 ++--
 aip_xx1_gen2_launch/launch/lidar.launch.xml    |  2 +-
 aip_xx1_gen2_launch/launch/radar.launch.xml    |  2 +-
 aip_xx1_gen2_launch/launch/sensing.launch.xml  | 10 +++++-----
 aip_xx1_gen2_launch/package.xml                |  4 ++--
 11 files changed, 18 insertions(+), 18 deletions(-)

diff --git a/aip_xx1_gen2_description/CMakeLists.txt b/aip_xx1_gen2_description/CMakeLists.txt
index 50723262..549de0f8 100644
--- a/aip_xx1_gen2_description/CMakeLists.txt
+++ b/aip_xx1_gen2_description/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(aip_xx1_description)
+project(aip_xx1_gen2_description)
 
 find_package(ament_cmake_auto REQUIRED)
 
diff --git a/aip_xx1_gen2_description/package.xml b/aip_xx1_gen2_description/package.xml
index b35b48e0..9b010d72 100644
--- a/aip_xx1_gen2_description/package.xml
+++ b/aip_xx1_gen2_description/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="2">
-  <name>aip_xx1_description</name>
+  <name>aip_xx1_gen2_description</name>
   <version>0.1.0</version>
-  <description>The aip_xx1_description package</description>
+  <description>The aip_xx1_gen2_description package</description>
 
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <license>Apache 2</license>
diff --git a/aip_xx1_gen2_description/urdf/sensor_kit.xacro b/aip_xx1_gen2_description/urdf/sensor_kit.xacro
index 8830a4d3..137b3589 100644
--- a/aip_xx1_gen2_description/urdf/sensor_kit.xacro
+++ b/aip_xx1_gen2_description/urdf/sensor_kit.xacro
@@ -9,7 +9,7 @@
 
     <!-- <xacro:property name="pi" value="3.1415926835897931"/> -->
     <xacro:arg name="gpu" default="false"/>
-    <xacro:arg name="config_dir" default="$(find aip_xx1_description)/config"/>
+    <xacro:arg name="config_dir" default="$(find aip_xx1_gen2_description)/config"/>
 
     <xacro:property name="sensor_kit_base_link" default="sensor_kit_base_link"/>
 
diff --git a/aip_xx1_gen2_description/urdf/sensors.xacro b/aip_xx1_gen2_description/urdf/sensors.xacro
index 64dbf6bb..81faabe8 100644
--- a/aip_xx1_gen2_description/urdf/sensors.xacro
+++ b/aip_xx1_gen2_description/urdf/sensors.xacro
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <robot name="vehicle" xmlns:xacro="http://ros.org/wiki/xacro">
 
-  <xacro:arg name="config_dir" default="$(find aip_xx1_description)/config"/>
+  <xacro:arg name="config_dir" default="$(find aip_xx1_gen2_description)/config"/>
   <xacro:property name="calibration" value="${xacro.load_yaml('$(arg config_dir)/sensors_calibration.yaml')}"/>
 
   <!-- sensor kit -->
diff --git a/aip_xx1_gen2_launch/CMakeLists.txt b/aip_xx1_gen2_launch/CMakeLists.txt
index babf05d8..7f8d9f60 100644
--- a/aip_xx1_gen2_launch/CMakeLists.txt
+++ b/aip_xx1_gen2_launch/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(aip_xx1_launch)
+project(aip_xx1_gen2_launch)
 
 find_package(ament_cmake_auto REQUIRED)
 ament_auto_find_build_dependencies()
diff --git a/aip_xx1_gen2_launch/launch/imu.launch.xml b/aip_xx1_gen2_launch/launch/imu.launch.xml
index 29795ae1..04011706 100644
--- a/aip_xx1_gen2_launch/launch/imu.launch.xml
+++ b/aip_xx1_gen2_launch/launch/imu.launch.xml
@@ -44,7 +44,7 @@
     </include>
 
     <!-- Gyro Bias Estimator-->
-    <arg name="gyro_bias_estimator_param_file" default="$(find-pkg-share aip_xx1_launch)/config/gyro_bias_estimator.param.yaml"/>
+    <arg name="gyro_bias_estimator_param_file" default="$(find-pkg-share aip_xx1_gen2_launch)/config/gyro_bias_estimator.param.yaml"/>
     <include file="$(find-pkg-share imu_corrector)/launch/gyro_bias_estimator.launch.xml">
       <arg name="input_imu_raw" value="$(var imu_raw_name)"/>
       <arg name="input_odom" value="/localization/kinematic_state"/>
diff --git a/aip_xx1_gen2_launch/launch/lidar.launch.py b/aip_xx1_gen2_launch/launch/lidar.launch.py
index 594d2eb4..7174fc9f 100644
--- a/aip_xx1_gen2_launch/launch/lidar.launch.py
+++ b/aip_xx1_gen2_launch/launch/lidar.launch.py
@@ -126,7 +126,7 @@ def load_yaml(yaml_file_path):
         IncludeLaunchDescription(
             PythonLaunchDescriptionSource(
                 os.path.join(
-                    get_package_share_directory("aip_xx1_launch"),
+                    get_package_share_directory("aip_xx1_gen2_launch"),
                     "launch",
                     "pointcloud_preprocessor.launch.py",
                 )
@@ -159,7 +159,7 @@ def generate_launch_description():
     config_file_arg = DeclareLaunchArgument(
         "config_file",
         default_value=os.path.join(
-            get_package_share_directory("aip_xx1_launch"), "config", "lidar_launch.yaml"
+            get_package_share_directory("aip_xx1_gen2_launch"), "config", "lidar_launch.yaml"
         ),
         description="Path to the configuration file",
     )
diff --git a/aip_xx1_gen2_launch/launch/lidar.launch.xml b/aip_xx1_gen2_launch/launch/lidar.launch.xml
index b524b788..4f4b37b7 100644
--- a/aip_xx1_gen2_launch/launch/lidar.launch.xml
+++ b/aip_xx1_gen2_launch/launch/lidar.launch.xml
@@ -114,7 +114,7 @@
       </include>
     </group>
 
-    <include file="$(find-pkg-share aip_xx1_launch)/launch/pointcloud_preprocessor.launch.py">
+    <include file="$(find-pkg-share aip_xx1_gen2_launch)/launch/pointcloud_preprocessor.launch.py">
       <arg name="base_frame" value="base_link"/>
       <arg name="use_intra_process" value="true"/>
       <arg name="use_multithread" value="true"/>
diff --git a/aip_xx1_gen2_launch/launch/radar.launch.xml b/aip_xx1_gen2_launch/launch/radar.launch.xml
index 41ac94b3..7eb4dbcb 100644
--- a/aip_xx1_gen2_launch/launch/radar.launch.xml
+++ b/aip_xx1_gen2_launch/launch/radar.launch.xml
@@ -226,7 +226,7 @@
     </group>
 
     <!-- merge radar objects -->
-    <let name="merger_param_path" value="$(find-pkg-share aip_xx1_launch)/config/radar_simple_object_merger.param.yaml"/>
+    <let name="merger_param_path" value="$(find-pkg-share aip_xx1_gen2_launch)/config/radar_simple_object_merger.param.yaml"/>
     <node pkg="simple_object_merger" exec="simple_object_merger_node" name="simple_object_merger" output="screen">
       <remap from="~/output/objects" to="detected_objects"/>
       <param from="$(var merger_param_path)"/>
diff --git a/aip_xx1_gen2_launch/launch/sensing.launch.xml b/aip_xx1_gen2_launch/launch/sensing.launch.xml
index 8213cba8..74f24c15 100644
--- a/aip_xx1_gen2_launch/launch/sensing.launch.xml
+++ b/aip_xx1_gen2_launch/launch/sensing.launch.xml
@@ -9,29 +9,29 @@
   <group>
 
     <!-- LiDAR Driver -->
-    <include file="$(find-pkg-share aip_xx1_launch)/launch/lidar.launch.py">
+    <include file="$(find-pkg-share aip_xx1_gen2_launch)/launch/lidar.launch.py">
       <arg name="launch_driver" value="$(var launch_driver)" />
       <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </include>
 
     <!-- Camera Driver -->
-    <!-- <include file="$(find-pkg-share aip_xx1_launch)/launch/camera.launch.xml">
+    <!-- <include file="$(find-pkg-share aip_xx1_gen2_launch)/launch/camera.launch.xml">
       <arg name="launch_driver" value="$(var launch_driver)" />
     </include> -->
 
     <!-- IMU Driver -->
-    <include file="$(find-pkg-share aip_xx1_launch)/launch/imu.launch.xml">
+    <include file="$(find-pkg-share aip_xx1_gen2_launch)/launch/imu.launch.xml">
       <arg name="launch_driver" value="$(var launch_driver)" />
     </include>
 
     <!-- GNSS Driver -->
-    <include file="$(find-pkg-share aip_xx1_launch)/launch/gnss.launch.xml">
+    <include file="$(find-pkg-share aip_xx1_gen2_launch)/launch/gnss.launch.xml">
       <arg name="launch_driver" value="$(var launch_driver)" />
     </include>
 
     <!-- Radar Driver -->
-    <include file="$(find-pkg-share aip_xx1_launch)/launch/radar.launch.xml">
+    <include file="$(find-pkg-share aip_xx1_gen2_launch)/launch/radar.launch.xml">
       <arg name="launch_driver" value="$(var launch_driver)" />
     </include>
 
diff --git a/aip_xx1_gen2_launch/package.xml b/aip_xx1_gen2_launch/package.xml
index 93246e4b..8f2f9df9 100644
--- a/aip_xx1_gen2_launch/package.xml
+++ b/aip_xx1_gen2_launch/package.xml
@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>aip_xx1_launch</name>
+  <name>aip_xx1_gen2_launch</name>
   <version>0.1.0</version>
-  <description>The aip_xx1_launch package</description>
+  <description>The aip_xx1_gen2_launch package</description>
 
   <maintainer email="hiroki.ota@tier4.jp">Hiroki OTA</maintainer>
   <license>Apache License 2.0</license>