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feat(common_sensor_launch): add OT128 and QT128 launch files #219

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feat(common_sensor_launch): add OT128 and QT128 launch files #219

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39a8559
add launch files
miursh Mar 12, 2024
abf8174
feat: add PTP params
drwnz Mar 19, 2024
3d2f505
ci(pre-commit): autofix
pre-commit-ci[bot] Mar 19, 2024
e1ac782
fix typo
miursh May 14, 2024
52fade1
Merge branch 'tier4/universe' into feat/add_OT128_and_QT128_launch
miursh May 14, 2024
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38 changes: 38 additions & 0 deletions common_sensor_launch/launch/hesai_OT128.launch.xml
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<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)"/>
<arg name="ptp_profile" value="802.1as"/>
<arg name="ptp_transport_type" value="L2"/>
</include>
</launch>
38 changes: 38 additions & 0 deletions common_sensor_launch/launch/hesai_QT128.launch.xml
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<launch>

<!-- Params -->
<arg name="launch_driver" default="true"/>

<arg name="model" default="PandarQT128"/>
<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)"/>
<arg name="ptp_profile" value="1588v2"/>
<arg name="ptp_transport_type" value="UDP"/>
</include>
</launch>
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