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fix: remove duplicated parameter #312

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merged 2 commits into from
Sep 13, 2024
+5 −13
Merged

fix: remove duplicated parameter #312

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edfdead
remove duplicated parameter
TomohitoAndo Sep 13, 2024
c090500
use pointcloud container var
TomohitoAndo Sep 13, 2024
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18 changes: 5 additions & 13 deletions aip_x2_gen2_launch/launch/lidar.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,7 @@
<arg name="use_intra_process" value="true" />
<arg name="use_multithread" value="true" />
<arg name="use_pointcloud_container" value="true"/>
<arg name="pointcloud_container_name" value="pointcloud_container"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
</include>

<!-- LiDARs connected to Main ECU -->
Expand All @@ -44,7 +44,7 @@
<arg name="ptp_domain" value="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="container_name" value="$(var pointcloud_container_name)"/>

<arg name="distance_range" value="[0.5, 200.0]"/>
<arg name="blockage_range" value="[90.0, 270.0]"/>
Expand All @@ -55,7 +55,6 @@
<arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
<arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/front_lower.csv" />
<arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
</include>
</group>

Expand All @@ -78,7 +77,7 @@
<arg name="ptp_domain" value="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="container_name" value="$(var pointcloud_container_name)"/>

<arg name="distance_range" value="[0.5, 200.0]"/>
<arg name="blockage_range" value="[90.0, 270.0]"/>
Expand All @@ -89,7 +88,6 @@
<arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
<arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/front_lower.csv" />
<arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
</include>
</group>

Expand All @@ -112,7 +110,7 @@
<arg name="ptp_domain" value="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="container_name" value="$(var pointcloud_container_name)"/>

<arg name="distance_range" value="[0.5, 200.0]"/>
<arg name="blockage_range" value="[90.0, 270.0]"/>
Expand All @@ -123,7 +121,6 @@
<arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
<arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/front_lower.csv" />
<arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
</include>
</group>

Expand All @@ -146,7 +143,7 @@
<arg name="ptp_domain" value="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="container_name" value="$(var pointcloud_container_name)"/>

<arg name="distance_range" value="[0.5, 200.0]"/>
<arg name="blockage_range" value="[90.0, 270.0]"/>
Expand All @@ -157,7 +154,6 @@
<arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
<arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/front_lower.csv" />
<arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
</include>
</group>

Expand Down Expand Up @@ -192,7 +188,6 @@
<arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
<arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/front_lower.csv" />
<arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
</include>
</group>

Expand Down Expand Up @@ -226,7 +221,6 @@
<arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
<arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/front_lower.csv" />
<arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
</include>
</group>

Expand Down Expand Up @@ -260,7 +254,6 @@
<arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
<arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/front_lower.csv" />
<arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
</include>
</group>

Expand Down Expand Up @@ -294,7 +287,6 @@
<arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
<arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/front_lower.csv" />
<arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
</include>
</group>

Expand Down
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