From d4faa4df6dbbb8e3c1a9341cab7e4e85163a5aad Mon Sep 17 00:00:00 2001
From: Shinnosuke Hirakawa <shinnosuke.hirakawa@tier4.jp>
Date: Thu, 5 Sep 2024 00:51:48 +0900
Subject: [PATCH 1/4] chore: use optimized driver

---
 common_sensor_launch/launch/ars408.launch.xml | 13 +++----------
 1 file changed, 3 insertions(+), 10 deletions(-)

diff --git a/common_sensor_launch/launch/ars408.launch.xml b/common_sensor_launch/launch/ars408.launch.xml
index 0ba70569..3c3a1eac 100644
--- a/common_sensor_launch/launch/ars408.launch.xml
+++ b/common_sensor_launch/launch/ars408.launch.xml
@@ -16,17 +16,10 @@
   <!-- converter parameter -->
   <arg name="input/odometry" default="/localization/kinematic_state" />
 
-  <!-- Socket CAN -->
-  <group if="$(var launch_driver)">
-    <include file="$(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>
-  </group>
-
   <!-- ARS408 driver-->
-  <!-- Note: If the ARS408 driver is stable, continental_ars408.launch.xml move to group <if="$(var launch_driver)> -->
-  <include file="$(find-pkg-share pe_ars408_ros)/launch/continental_ars408.launch.xml">
+  <include file="$(find-pkg-share pe_ars408_ros)/launch/continental_ars408.launch.py">
+    <arg name="interface" value="$(var interface)"/>
+    <arg name="interval_sec" value="$(var receiver_interval_sec)"/>
     <arg name="input/frame" value="$(var input/frame)" />
     <arg name="output/objects" value="objects_raw" />
     <arg name="output/scan" value="scan_raw" />

From 5c0b37936de7cc4b4c28ea922a1081e6524a97f1 Mon Sep 17 00:00:00 2001
From: Shinnosuke Hirakawa <shinnosuke.hirakawa@tier4.jp>
Date: Thu, 5 Sep 2024 00:52:42 +0900
Subject: [PATCH 2/4] chore: remove radar preprocessor

---
 common_sensor_launch/launch/ars408.launch.xml | 17 -----------------
 1 file changed, 17 deletions(-)

diff --git a/common_sensor_launch/launch/ars408.launch.xml b/common_sensor_launch/launch/ars408.launch.xml
index 3c3a1eac..fe34aef5 100644
--- a/common_sensor_launch/launch/ars408.launch.xml
+++ b/common_sensor_launch/launch/ars408.launch.xml
@@ -31,21 +31,4 @@
     <arg name="size_y" value="$(var size_y)" />
   </include>
 
-  <!-- Noise filter -->
-  <include file="$(find-pkg-share radar_tracks_noise_filter)/launch/radar_tracks_noise_filter.launch.xml">
-    <arg name="input/tracks" value="objects_raw"/>
-    <arg name="output/noise_tracks" value="noise_objects" />
-    <arg name="output/filtered_tracks" value="filtered_objects" />
-    <arg name="velocity_y_threshold" value="$(var velocity_y_threshold)" />
-  </include>
-
-  <!-- Message converter -->
-  <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
-    <arg name="input/radar_objects" value="filtered_objects"/>
-    <arg name="input/odometry" value="$(var input/odometry)"/>
-    <arg name="output/radar_detected_objects" value="detected_objects"/>
-    <arg name="output/radar_tracked_objects" value="tracked_objects"/>
-    <arg name="update_rate_hz" value="10.0"/>
-    <arg name="use_twist_compensation" value="true"/>
-  </include>
 </launch>

From 153192156f2a0fc2e4ca432db7fc01b2f7ea181e Mon Sep 17 00:00:00 2001
From: Shinnosuke Hirakawa <shinnosuke.hirakawa@tier4.jp>
Date: Thu, 5 Sep 2024 01:13:08 +0900
Subject: [PATCH 3/4] fix: extend receiver_interval_sec

---
 common_sensor_launch/launch/ars408.launch.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/common_sensor_launch/launch/ars408.launch.xml b/common_sensor_launch/launch/ars408.launch.xml
index fe34aef5..570b25c5 100644
--- a/common_sensor_launch/launch/ars408.launch.xml
+++ b/common_sensor_launch/launch/ars408.launch.xml
@@ -3,7 +3,7 @@
 
   <!-- socket can interface parameter -->
   <arg name="interface" default="can0" />
-  <arg name="receiver_interval_sec" default="0.01"/>
+  <arg name="receiver_interval_sec" default="0.1"/>
   <!-- driver parameter -->
   <arg name="input/frame" default="from_can_bus" />
   <arg name="output_frame" default="ars408_front" />

From 3b8c474a279b0cffec15338ec307fdfd28a97179 Mon Sep 17 00:00:00 2001
From: Shinnosuke Hirakawa <shinnosuke.hirakawa@tier4.jp>
Date: Thu, 5 Sep 2024 01:14:04 +0900
Subject: [PATCH 4/4] chore: remove radar merger

---
 aip_x2_launch/launch/radar.launch.xml | 8 --------
 1 file changed, 8 deletions(-)

diff --git a/aip_x2_launch/launch/radar.launch.xml b/aip_x2_launch/launch/radar.launch.xml
index 73e36ecf..d55b1a4c 100644
--- a/aip_x2_launch/launch/radar.launch.xml
+++ b/aip_x2_launch/launch/radar.launch.xml
@@ -59,13 +59,5 @@
       </include>
     </group>
 
-    <include file="$(find-pkg-share simple_object_merger)/launch/simple_object_merger.launch.xml">
-      <arg name="output/objects" value="detected_objects"/>
-      <arg name="update_rate_hz" value="20.0"/>
-      <arg name="new_frame_id" value="base_link"/>
-      <arg name="timeout_threshold" value="1.0"/>
-      <arg name="input_topics" value="[/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]"/>
-    </include>
-
   </group>
 </launch>