From a694f2ed8d4c1e272a4e647a4bfa308ae947ddc4 Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Mon, 18 Mar 2024 23:27:00 +0900
Subject: [PATCH 1/2] chore: update blockage param for aip_x2_launch

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
 aip_x2_launch/launch/lidar.launch.xml         | 29 +++++++++++++++++--
 .../launch/pandar_node_container.launch.py    | 10 ++++++-
 2 files changed, 35 insertions(+), 4 deletions(-)

diff --git a/aip_x2_launch/launch/lidar.launch.xml b/aip_x2_launch/launch/lidar.launch.xml
index 6f478053..9ccf52af 100644
--- a/aip_x2_launch/launch/lidar.launch.xml
+++ b/aip_x2_launch/launch/lidar.launch.xml
@@ -4,9 +4,9 @@
   <arg name="use_concat_filter" default="true" />
   <arg name="vehicle_id" default="$(env VEHICLE_ID default)" />
   <arg name="vehicle_mirror_param_file" />
-  <arg name="use_pointcloud_container" default="false" description="launch pointcloud container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name="dual_return_filter_param_file" default="$(find-pkg-share aip_x2_launch)/config/dual_return_filter.param.yaml"/>
+  <arg name="enable_blockage_diag" default="true"/>
 
   <group>
     <push-ros-namespace namespace="lidar" />
@@ -26,6 +26,9 @@
         <arg name="return_mode" value="Strongest" />
         <arg name="min_azimuth_deg" value="135.0"/>
         <arg name="max_azimuth_deg" value="225.0"/>
+        <arg name="is_channel_order_top2down" value="true"/>
+        <arg name="horizontal_resolution" value="0.4"/>
+        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/front_lower.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
@@ -46,6 +49,9 @@
         <arg name="vertical_bins" value ="64" />
         <arg name="horizontal_ring_id" value="40" />
         <arg name="return_mode" value="First" />
+        <arg name="is_channel_order_top2down" value="false"/>
+        <arg name="horizontal_resolution" value="0.6"/>
+        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/front_upper.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
@@ -68,6 +74,9 @@
         <arg name="horizontal_ring_id" value="12" />
         <arg name="min_azimuth_deg" value="225.0"/>
         <arg name="max_azimuth_deg" value="315.0"/>
+        <arg name="is_channel_order_top2down" value="true"/>
+        <arg name="horizontal_resolution" value="0.4"/>
+        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="return_mode" value="Dual" />
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/left_upper.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />
@@ -89,6 +98,9 @@
         <arg name="distance_range" value="[0.1, 7.5]"/>
         <arg name="vertical_bins" value ="64" />
         <arg name="horizontal_ring_id" value="54" />
+        <arg name="is_channel_order_top2down" value="false"/>
+        <arg name="horizontal_resolution" value="0.6"/>
+        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="return_mode" value="First" />
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/left_lower.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />
@@ -112,6 +124,9 @@
         <arg name="horizontal_ring_id" value="12" />
         <arg name="min_azimuth_deg" value="45.0"/>
         <arg name="max_azimuth_deg" value="135.0"/>
+        <arg name="is_channel_order_top2down" value="true"/>
+        <arg name="horizontal_resolution" value="0.4"/>
+        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="return_mode" value="Dual" />
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/right_upper.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />
@@ -133,6 +148,9 @@
         <arg name="distance_range" value="[0.1, 7.5]"/>
         <arg name="vertical_bins" value ="64" />
         <arg name="horizontal_ring_id" value="54" />
+        <arg name="is_channel_order_top2down" value="false"/>
+        <arg name="horizontal_resolution" value="0.6"/>
+        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="return_mode" value="First" />
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/right_lower.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />
@@ -156,6 +174,9 @@
         <arg name="horizontal_ring_id" value="12" />
         <arg name="min_azimuth_deg" value="135.0"/>
         <arg name="max_azimuth_deg" value="225.0"/>
+        <arg name="is_channel_order_top2down" value="true"/>
+        <arg name="horizontal_resolution" value="0.4"/>
+        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="return_mode" value="Strongest" />
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/rear_lower.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />
@@ -177,6 +198,9 @@
         <arg name="distance_range" value="[0.1, 7.5]"/>
         <arg name="vertical_bins" value ="64" />
         <arg name="horizontal_ring_id" value="40" />
+        <arg name="is_channel_order_top2down" value="false"/>
+        <arg name="horizontal_resolution" value="0.6"/>
+        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="return_mode" value="First" />
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/rear_upper.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />
@@ -189,8 +213,7 @@
       <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="$(var use_pointcloud_container)" />
-      <arg name="container_name" value="$(var pointcloud_container_name)"/>
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </include>
 
   </group>
diff --git a/aip_x2_launch/launch/pandar_node_container.launch.py b/aip_x2_launch/launch/pandar_node_container.launch.py
index cfb39cc4..ee0291d5 100644
--- a/aip_x2_launch/launch/pandar_node_container.launch.py
+++ b/aip_x2_launch/launch/pandar_node_container.launch.py
@@ -43,6 +43,10 @@ def get_pandar_monitor_info():
     return p
 
 
+def str2vector(string):
+    return [float(x) for x in string.strip("[]").split(",")]
+
+
 def get_vehicle_info(context):
     # TODO(TIER IV): Use Parameter Substitution after we drop Galactic support
     # https://github.com/ros2/launch_ros/blob/master/launch_ros/launch_ros/substitutions/parameter.py
@@ -232,6 +236,7 @@ def create_parameter_dict(*args):
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )
 
+    distance_range = str2vector(context.perform_substitution(LaunchConfiguration("distance_range")))
     blockage_diag_component = ComposableNode(
         package="pointcloud_preprocessor",
         plugin="pointcloud_preprocessor::BlockageDiagComponent",
@@ -245,7 +250,9 @@ def create_parameter_dict(*args):
                 "angle_range": LaunchConfiguration("angle_range"),
                 "horizontal_ring_id": LaunchConfiguration("horizontal_ring_id"),
                 "vertical_bins": LaunchConfiguration("vertical_bins"),
-                "model": LaunchConfiguration("model"),
+                "is_channel_order_top2down": LaunchConfiguration("is_channel_order_top2down"),
+                "max_distance_range": distance_range[1],
+                "horizontal_resolution": LaunchConfiguration("horizontal_resolution"),
             }
         ]
         + [load_composable_node_param("blockage_diagnostics_param_file")],
@@ -323,6 +330,7 @@ def add_launch_arg(name: str, default_value=None):
     add_launch_arg("input_frame", LaunchConfiguration("base_frame"))
     add_launch_arg("output_frame", LaunchConfiguration("base_frame"))
     add_launch_arg("dual_return_filter_param_file")
+    add_launch_arg("horizontal_resolution", "0.4")
     add_launch_arg(
         "blockage_diagnostics_param_file",
         [FindPackageShare("aip_x2_launch"), "/config/blockage_diagnostics_param_file.yaml"],

From e51bff407ce86a48bfca88c783356cd8e9c513f6 Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Mon, 18 Mar 2024 23:54:11 +0900
Subject: [PATCH 2/2] chore: update param config

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
 aip_x2_launch/config/blockage_diagnostics_param_file.yaml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/aip_x2_launch/config/blockage_diagnostics_param_file.yaml b/aip_x2_launch/config/blockage_diagnostics_param_file.yaml
index b8b62b50..c6ce8e11 100644
--- a/aip_x2_launch/config/blockage_diagnostics_param_file.yaml
+++ b/aip_x2_launch/config/blockage_diagnostics_param_file.yaml
@@ -9,3 +9,4 @@
     dust_kernel_size: 2
     dust_buffering_frames: 10
     dust_buffering_interval: 1
+    blockage_kernel: 10