From b6d7c26ccf03ce21fc132f23d23018e21435aaa4 Mon Sep 17 00:00:00 2001
From: kotaro-hihara <kotaro.hihara@tier4.jp>
Date: Tue, 24 Sep 2024 20:43:37 +0900
Subject: [PATCH 1/7] set point_filters test

---
 .../config/point_filters_one_half.param.yaml  | 77 +++++++++++++++++++
 .../launch/hesai_OT128.launch.xml             |  2 +
 aip_x2_gen2_launch/launch/lidar.launch.xml    |  1 +
 .../launch/nebula_node_container.launch.py    |  5 +-
 4 files changed, 83 insertions(+), 2 deletions(-)
 create mode 100644 aip_x2_gen2_launch/config/point_filters_one_half.param.yaml

diff --git a/aip_x2_gen2_launch/config/point_filters_one_half.param.yaml b/aip_x2_gen2_launch/config/point_filters_one_half.param.yaml
new file mode 100644
index 00000000..ad0fcccf
--- /dev/null
+++ b/aip_x2_gen2_launch/config/point_filters_one_half.param.yaml
@@ -0,0 +1,77 @@
+/**:
+  ros__parameters:
+    point_filters: |
+      {
+        "ring_section_filter": [
+          [0, 0, 360],
+          [1, 0, 360],
+          [2, 0, 360],
+          [3, 0, 360],
+          [4, 0, 360],
+          [5, 0, 360],
+          [6, 0, 360],
+          [7, 0, 360],
+          [8, 0, 360],
+          [9, 0, 360],
+          [10, 0, 360],
+          [11, 0, 360],
+          [12, 0, 360],
+          [13, 0, 360],
+          [14, 0, 360],
+          [15, 0, 360],
+          [16, 0, 360],
+          [17, 0, 360],
+          [18, 0, 360],
+          [19, 0, 360],
+          [20, 0, 360],
+          [21, 0, 360],
+          [22, 0, 360],
+          [23, 0, 360],
+          [24, 0, 360],
+          [25, 0, 360],
+          [26, 0, 360],
+          [27, 0, 360],
+          [28, 0, 360],
+          [29, 0, 360],
+          [30, 0, 360],
+          [31, 0, 360],
+          [32, 0, 360],
+          [33, 0, 360],
+          [34, 0, 360],
+          [35, 0, 360],
+          [36, 0, 360],
+          [37, 0, 360],
+          [38, 0, 360],
+          [39, 0, 360],
+          [40, 0, 360],
+          [41, 0, 360],
+          [42, 0, 360],
+          [43, 0, 360],
+          [44, 0, 360],
+          [45, 0, 360],
+          [46, 0, 360],
+          [47, 0, 360],
+          [48, 0, 360],
+          [49, 0, 360],
+          [50, 0, 360],
+          [51, 0, 360],
+          [52, 0, 360],
+          [53, 0, 360],
+          [54, 0, 360],
+          [55, 0, 360],
+          [56, 0, 360],
+          [57, 0, 360],
+          [58, 0, 360],
+          [59, 0, 360],
+          [50, 0, 360],
+          [51, 0, 360],
+          [52, 0, 360],
+          [53, 0, 360],
+          [54, 0, 360],
+          [55, 0, 360],
+          [56, 0, 360],
+          [57, 0, 360],
+          [58, 0, 360],
+          [59, 0, 360],
+        ]
+      }
diff --git a/aip_x2_gen2_launch/launch/hesai_OT128.launch.xml b/aip_x2_gen2_launch/launch/hesai_OT128.launch.xml
index e8881a1f..5ca6bf9e 100644
--- a/aip_x2_gen2_launch/launch/hesai_OT128.launch.xml
+++ b/aip_x2_gen2_launch/launch/hesai_OT128.launch.xml
@@ -30,6 +30,7 @@
   <arg name="dual_return_filter_param_file" default="$(var dual_return_filter_param_file)" />
   <arg name="vehicle_mirror_param_file" default="$(var vehicle_mirror_param_file)" />
   <arg name="blockage_diagnostics_param_file" default="$(find-pkg-share aip_x2_gen2_launch)/config/blockage_diagnostics_param_file.yaml" />
+  <arg name="point_filters_param_file" default="$(var point_filters_param_file)" />
 
   <include file="$(find-pkg-share aip_x2_gen2_launch)/launch/nebula_node_container.launch.py">
     <arg name="launch_driver" value="$(var launch_driver)"/>
@@ -64,6 +65,7 @@
     <arg name="calibration" value="$(var calibration)"/>
     <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)"/>
     <arg name="blockage_diagnostics_param_file" value="$(var blockage_diagnostics_param_file)"/>
+    <arg name="point_filters_param_file" value="$(var point_filters_param_file)"/>
 
   </include>
 </launch>
diff --git a/aip_x2_gen2_launch/launch/lidar.launch.xml b/aip_x2_gen2_launch/launch/lidar.launch.xml
index 203845ce..5d92d3ad 100644
--- a/aip_x2_gen2_launch/launch/lidar.launch.xml
+++ b/aip_x2_gen2_launch/launch/lidar.launch.xml
@@ -55,6 +55,7 @@
         <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="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters_one_half.param.yaml" />
       </include>
     </group>
 
diff --git a/aip_x2_gen2_launch/launch/nebula_node_container.launch.py b/aip_x2_gen2_launch/launch/nebula_node_container.launch.py
index e09ff11a..33390491 100644
--- a/aip_x2_gen2_launch/launch/nebula_node_container.launch.py
+++ b/aip_x2_gen2_launch/launch/nebula_node_container.launch.py
@@ -110,7 +110,6 @@ def str2vector(string):
             {
                 "calibration_file": sensor_calib_fp,
                 "sensor_model": sensor_model,
-                "point_filters": "{}",
                 **create_parameter_dict(
                     "host_ip",
                     "sensor_ip",
@@ -138,7 +137,8 @@ def str2vector(string):
                 "launch_hw": True,
                 "retry_hw": True,
             },
-        ],
+        ]
+        + [load_composable_node_param("point_filters_param_file")],
         remappings=[
             # ("aw_points", "pointcloud_raw"),
             ("pandar_points", "pointcloud_raw_ex"),
@@ -382,6 +382,7 @@ def add_launch_arg(name: str, default_value=None, description=None):
     add_launch_arg("min_azimuth_deg", "135.0")
     add_launch_arg("max_azimuth_deg", "225.0")
     add_launch_arg("enable_blockage_diag", "true")
+    add_launch_arg("point_filters_param_file")
 
     set_container_executable = SetLaunchConfiguration(
         "container_executable",

From c329fb7a0b6f149980c51016beebd0f2b8bff160 Mon Sep 17 00:00:00 2001
From: kotaro-hihara <kotaro.hihara@tier4.jp>
Date: Tue, 24 Sep 2024 20:48:27 +0900
Subject: [PATCH 2/7] fix ring id

---
 .../config/point_filters_one_half.param.yaml  | 134 +++++++++---------
 1 file changed, 64 insertions(+), 70 deletions(-)

diff --git a/aip_x2_gen2_launch/config/point_filters_one_half.param.yaml b/aip_x2_gen2_launch/config/point_filters_one_half.param.yaml
index ad0fcccf..42db0ed7 100644
--- a/aip_x2_gen2_launch/config/point_filters_one_half.param.yaml
+++ b/aip_x2_gen2_launch/config/point_filters_one_half.param.yaml
@@ -3,75 +3,69 @@
     point_filters: |
       {
         "ring_section_filter": [
-          [0, 0, 360],
-          [1, 0, 360],
-          [2, 0, 360],
-          [3, 0, 360],
-          [4, 0, 360],
-          [5, 0, 360],
-          [6, 0, 360],
-          [7, 0, 360],
-          [8, 0, 360],
-          [9, 0, 360],
-          [10, 0, 360],
-          [11, 0, 360],
-          [12, 0, 360],
-          [13, 0, 360],
-          [14, 0, 360],
-          [15, 0, 360],
-          [16, 0, 360],
-          [17, 0, 360],
-          [18, 0, 360],
-          [19, 0, 360],
-          [20, 0, 360],
-          [21, 0, 360],
-          [22, 0, 360],
-          [23, 0, 360],
-          [24, 0, 360],
-          [25, 0, 360],
-          [26, 0, 360],
-          [27, 0, 360],
-          [28, 0, 360],
-          [29, 0, 360],
-          [30, 0, 360],
-          [31, 0, 360],
-          [32, 0, 360],
-          [33, 0, 360],
-          [34, 0, 360],
-          [35, 0, 360],
-          [36, 0, 360],
-          [37, 0, 360],
-          [38, 0, 360],
-          [39, 0, 360],
-          [40, 0, 360],
-          [41, 0, 360],
-          [42, 0, 360],
-          [43, 0, 360],
-          [44, 0, 360],
-          [45, 0, 360],
-          [46, 0, 360],
-          [47, 0, 360],
-          [48, 0, 360],
-          [49, 0, 360],
-          [50, 0, 360],
-          [51, 0, 360],
-          [52, 0, 360],
-          [53, 0, 360],
-          [54, 0, 360],
-          [55, 0, 360],
-          [56, 0, 360],
-          [57, 0, 360],
-          [58, 0, 360],
-          [59, 0, 360],
-          [50, 0, 360],
-          [51, 0, 360],
-          [52, 0, 360],
-          [53, 0, 360],
-          [54, 0, 360],
-          [55, 0, 360],
-          [56, 0, 360],
-          [57, 0, 360],
-          [58, 0, 360],
-          [59, 0, 360],
+        [1, 0, 360],
+        [3, 0, 360],
+        [5, 0, 360],
+        [7, 0, 360],
+        [9, 0, 360],
+        [11, 0, 360],
+        [13, 0, 360],
+        [15, 0, 360],
+        [17, 0, 360],
+        [19, 0, 360],
+        [21, 0, 360],
+        [23, 0, 360],
+        [25, 0, 360],
+        [27, 0, 360],
+        [29, 0, 360],
+        [31, 0, 360],
+        [33, 0, 360],
+        [35, 0, 360],
+        [37, 0, 360],
+        [39, 0, 360],
+        [41, 0, 360],
+        [43, 0, 360],
+        [45, 0, 360],
+        [47, 0, 360],
+        [49, 0, 360],
+        [51, 0, 360],
+        [53, 0, 360],
+        [55, 0, 360],
+        [57, 0, 360],
+        [59, 0, 360],
+        [61, 0, 360],
+        [63, 0, 360],
+        [65, 0, 360],
+        [67, 0, 360],
+        [69, 0, 360],
+        [71, 0, 360],
+        [73, 0, 360],
+        [75, 0, 360],
+        [77, 0, 360],
+        [79, 0, 360],
+        [81, 0, 360],
+        [83, 0, 360],
+        [85, 0, 360],
+        [87, 0, 360],
+        [89, 0, 360],
+        [91, 0, 360],
+        [93, 0, 360],
+        [95, 0, 360],
+        [97, 0, 360],
+        [99, 0, 360],
+        [101, 0, 360],
+        [103, 0, 360],
+        [105, 0, 360],
+        [107, 0, 360],
+        [109, 0, 360],
+        [111, 0, 360],
+        [113, 0, 360],
+        [115, 0, 360],
+        [117, 0, 360],
+        [119, 0, 360],
+        [121, 0, 360],
+        [123, 0, 360],
+        [125, 0, 360],
+        [127, 0, 360]
         ]
       }

From 9fa72059e81d5095bbfcb0633ccbea858d8395b4 Mon Sep 17 00:00:00 2001
From: kotaro-hihara <kotaro.hihara@tier4.jp>
Date: Tue, 24 Sep 2024 20:59:58 +0900
Subject: [PATCH 3/7] add point_filters params

---
 .../config/point_filters_one_third.param.yaml | 50 ++++++++++
 .../point_filters_two_thirds.param copy.yaml  | 92 +++++++++++++++++++
 2 files changed, 142 insertions(+)
 create mode 100644 aip_x2_gen2_launch/config/point_filters_one_third.param.yaml
 create mode 100644 aip_x2_gen2_launch/config/point_filters_two_thirds.param copy.yaml

diff --git a/aip_x2_gen2_launch/config/point_filters_one_third.param.yaml b/aip_x2_gen2_launch/config/point_filters_one_third.param.yaml
new file mode 100644
index 00000000..45a57f55
--- /dev/null
+++ b/aip_x2_gen2_launch/config/point_filters_one_third.param.yaml
@@ -0,0 +1,50 @@
+/**:
+  ros__parameters:
+    point_filters: |
+      {
+        "ring_section_filter": [
+        [0, 0, 360],
+        [3, 0, 360],
+        [6, 0, 360],
+        [9, 0, 360],
+        [12, 0, 360],
+        [15, 0, 360],
+        [18, 0, 360],
+        [21, 0, 360],
+        [24, 0, 360],
+        [27, 0, 360],
+        [30, 0, 360],
+        [33, 0, 360],
+        [36, 0, 360],
+        [39, 0, 360],
+        [42, 0, 360],
+        [45, 0, 360],
+        [48, 0, 360],
+        [51, 0, 360],
+        [54, 0, 360],
+        [57, 0, 360],
+        [60, 0, 360],
+        [63, 0, 360],
+        [66, 0, 360],
+        [69, 0, 360],
+        [72, 0, 360],
+        [75, 0, 360],
+        [78, 0, 360],
+        [81, 0, 360],
+        [84, 0, 360],
+        [87, 0, 360],
+        [90, 0, 360],
+        [93, 0, 360],
+        [96, 0, 360],
+        [99, 0, 360],
+        [102, 0, 360],
+        [105, 0, 360],
+        [108, 0, 360],
+        [111, 0, 360],
+        [114, 0, 360],
+        [117, 0, 360],
+        [120, 0, 360],
+        [123, 0, 360],
+        [126, 0, 360]
+        ]
+      }
diff --git a/aip_x2_gen2_launch/config/point_filters_two_thirds.param copy.yaml b/aip_x2_gen2_launch/config/point_filters_two_thirds.param copy.yaml
new file mode 100644
index 00000000..075381cc
--- /dev/null
+++ b/aip_x2_gen2_launch/config/point_filters_two_thirds.param copy.yaml	
@@ -0,0 +1,92 @@
+/**:
+  ros__parameters:
+    point_filters: |
+      {
+        "ring_section_filter": [
+        [1, 0, 360],
+        [2, 0, 360],
+        [4, 0, 360],
+        [5, 0, 360],
+        [7, 0, 360],
+        [8, 0, 360],
+        [10, 0, 360],
+        [11, 0, 360],
+        [13, 0, 360],
+        [14, 0, 360],
+        [16, 0, 360],
+        [17, 0, 360],
+        [19, 0, 360],
+        [20, 0, 360],
+        [22, 0, 360],
+        [23, 0, 360],
+        [25, 0, 360],
+        [26, 0, 360],
+        [28, 0, 360],
+        [29, 0, 360],
+        [31, 0, 360],
+        [32, 0, 360],
+        [34, 0, 360],
+        [35, 0, 360],
+        [37, 0, 360],
+        [38, 0, 360],
+        [40, 0, 360],
+        [41, 0, 360],
+        [43, 0, 360],
+        [44, 0, 360],
+        [46, 0, 360],
+        [47, 0, 360],
+        [49, 0, 360],
+        [50, 0, 360],
+        [52, 0, 360],
+        [53, 0, 360],
+        [55, 0, 360],
+        [56, 0, 360],
+        [58, 0, 360],
+        [59, 0, 360],
+        [61, 0, 360],
+        [62, 0, 360],
+        [64, 0, 360],
+        [65, 0, 360],
+        [67, 0, 360],
+        [68, 0, 360],
+        [70, 0, 360],
+        [71, 0, 360],
+        [73, 0, 360],
+        [74, 0, 360],
+        [76, 0, 360],
+        [77, 0, 360],
+        [79, 0, 360],
+        [80, 0, 360],
+        [82, 0, 360],
+        [83, 0, 360],
+        [85, 0, 360],
+        [86, 0, 360],
+        [88, 0, 360],
+        [89, 0, 360],
+        [91, 0, 360],
+        [92, 0, 360],
+        [94, 0, 360],
+        [95, 0, 360],
+        [97, 0, 360],
+        [98, 0, 360],
+        [100, 0, 360],
+        [101, 0, 360],
+        [103, 0, 360],
+        [104, 0, 360],
+        [106, 0, 360],
+        [107, 0, 360],
+        [109, 0, 360],
+        [110, 0, 360],
+        [112, 0, 360],
+        [113, 0, 360],
+        [115, 0, 360],
+        [116, 0, 360],
+        [118, 0, 360],
+        [119, 0, 360],
+        [121, 0, 360],
+        [122, 0, 360],
+        [124, 0, 360],
+        [125, 0, 360],
+        [127, 0, 360]
+        ]
+      }

From 559cf5015859b77aa67a1d5610f0873894327140 Mon Sep 17 00:00:00 2001
From: kotaro-hihara <kotaro.hihara@tier4.jp>
Date: Thu, 26 Sep 2024 12:03:38 +0900
Subject: [PATCH 4/7] add default point_filter(no reduction)

---
 aip_x2_gen2_launch/config/point_filters_full.param.yaml | 5 +++++
 aip_x2_gen2_launch/launch/hesai_OT128.launch.xml        | 2 +-
 aip_x2_gen2_launch/launch/hesai_QT128.launch.xml        | 2 ++
 3 files changed, 8 insertions(+), 1 deletion(-)
 create mode 100644 aip_x2_gen2_launch/config/point_filters_full.param.yaml

diff --git a/aip_x2_gen2_launch/config/point_filters_full.param.yaml b/aip_x2_gen2_launch/config/point_filters_full.param.yaml
new file mode 100644
index 00000000..7ff58606
--- /dev/null
+++ b/aip_x2_gen2_launch/config/point_filters_full.param.yaml
@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    point_filters: |
+      {
+      }
diff --git a/aip_x2_gen2_launch/launch/hesai_OT128.launch.xml b/aip_x2_gen2_launch/launch/hesai_OT128.launch.xml
index 5ca6bf9e..2bcd6b81 100644
--- a/aip_x2_gen2_launch/launch/hesai_OT128.launch.xml
+++ b/aip_x2_gen2_launch/launch/hesai_OT128.launch.xml
@@ -30,7 +30,7 @@
   <arg name="dual_return_filter_param_file" default="$(var dual_return_filter_param_file)" />
   <arg name="vehicle_mirror_param_file" default="$(var vehicle_mirror_param_file)" />
   <arg name="blockage_diagnostics_param_file" default="$(find-pkg-share aip_x2_gen2_launch)/config/blockage_diagnostics_param_file.yaml" />
-  <arg name="point_filters_param_file" default="$(var point_filters_param_file)" />
+  <arg name="point_filters_param_file" default="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters_full.param.yaml" />
 
   <include file="$(find-pkg-share aip_x2_gen2_launch)/launch/nebula_node_container.launch.py">
     <arg name="launch_driver" value="$(var launch_driver)"/>
diff --git a/aip_x2_gen2_launch/launch/hesai_QT128.launch.xml b/aip_x2_gen2_launch/launch/hesai_QT128.launch.xml
index 59df827e..7819eccc 100644
--- a/aip_x2_gen2_launch/launch/hesai_QT128.launch.xml
+++ b/aip_x2_gen2_launch/launch/hesai_QT128.launch.xml
@@ -31,6 +31,7 @@
   <arg name="dual_return_filter_param_file" default="$(var dual_return_filter_param_file)" />
   <arg name="vehicle_mirror_param_file" default="$(var vehicle_mirror_param_file)" />
   <arg name="blockage_diagnostics_param_file" default="$(find-pkg-share aip_x2_gen2_launch)/config/blockage_diagnostics_param_file.yaml" />
+  <arg name="point_filters_param_file" default="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters_full.param.yaml" />
 
   <include file="$(find-pkg-share aip_x2_gen2_launch)/launch/nebula_node_container.launch.py">
     <arg name="launch_driver" value="$(var launch_driver)"/>
@@ -64,5 +65,6 @@
     <arg name="calibration" value="$(var calibration)"/>
     <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)"/>
     <arg name="blockage_diagnostics_param_file" value="$(var blockage_diagnostics_param_file)"/>
+    <arg name="point_filters_param_file" value="$(var point_filters_param_file)"/>
   </include>
 </launch>

From 7da5755a2472ed97fc9f6f6f97162a69d7e1e460 Mon Sep 17 00:00:00 2001
From: kotaro-hihara <kotaro.hihara@tier4.jp>
Date: Thu, 26 Sep 2024 20:01:40 +0900
Subject: [PATCH 5/7] one third all OT128

---
 .../config/point_filters_one_third.param.yaml | 128 ++++++++++++------
 .../config/point_filters_two_third.param.yaml |  50 +++++++
 .../point_filters_two_thirds.param copy.yaml  |  92 -------------
 aip_x2_gen2_launch/launch/lidar.launch.xml    |   5 +-
 4 files changed, 139 insertions(+), 136 deletions(-)
 create mode 100644 aip_x2_gen2_launch/config/point_filters_two_third.param.yaml
 delete mode 100644 aip_x2_gen2_launch/config/point_filters_two_thirds.param copy.yaml

diff --git a/aip_x2_gen2_launch/config/point_filters_one_third.param.yaml b/aip_x2_gen2_launch/config/point_filters_one_third.param.yaml
index 45a57f55..075381cc 100644
--- a/aip_x2_gen2_launch/config/point_filters_one_third.param.yaml
+++ b/aip_x2_gen2_launch/config/point_filters_one_third.param.yaml
@@ -3,48 +3,90 @@
     point_filters: |
       {
         "ring_section_filter": [
-        [0, 0, 360],
-        [3, 0, 360],
-        [6, 0, 360],
-        [9, 0, 360],
-        [12, 0, 360],
-        [15, 0, 360],
-        [18, 0, 360],
-        [21, 0, 360],
-        [24, 0, 360],
-        [27, 0, 360],
-        [30, 0, 360],
-        [33, 0, 360],
-        [36, 0, 360],
-        [39, 0, 360],
-        [42, 0, 360],
-        [45, 0, 360],
-        [48, 0, 360],
-        [51, 0, 360],
-        [54, 0, 360],
-        [57, 0, 360],
-        [60, 0, 360],
-        [63, 0, 360],
-        [66, 0, 360],
-        [69, 0, 360],
-        [72, 0, 360],
-        [75, 0, 360],
-        [78, 0, 360],
-        [81, 0, 360],
-        [84, 0, 360],
-        [87, 0, 360],
-        [90, 0, 360],
-        [93, 0, 360],
-        [96, 0, 360],
-        [99, 0, 360],
-        [102, 0, 360],
-        [105, 0, 360],
-        [108, 0, 360],
-        [111, 0, 360],
-        [114, 0, 360],
-        [117, 0, 360],
-        [120, 0, 360],
-        [123, 0, 360],
-        [126, 0, 360]
+        [1, 0, 360],
+        [2, 0, 360],
+        [4, 0, 360],
+        [5, 0, 360],
+        [7, 0, 360],
+        [8, 0, 360],
+        [10, 0, 360],
+        [11, 0, 360],
+        [13, 0, 360],
+        [14, 0, 360],
+        [16, 0, 360],
+        [17, 0, 360],
+        [19, 0, 360],
+        [20, 0, 360],
+        [22, 0, 360],
+        [23, 0, 360],
+        [25, 0, 360],
+        [26, 0, 360],
+        [28, 0, 360],
+        [29, 0, 360],
+        [31, 0, 360],
+        [32, 0, 360],
+        [34, 0, 360],
+        [35, 0, 360],
+        [37, 0, 360],
+        [38, 0, 360],
+        [40, 0, 360],
+        [41, 0, 360],
+        [43, 0, 360],
+        [44, 0, 360],
+        [46, 0, 360],
+        [47, 0, 360],
+        [49, 0, 360],
+        [50, 0, 360],
+        [52, 0, 360],
+        [53, 0, 360],
+        [55, 0, 360],
+        [56, 0, 360],
+        [58, 0, 360],
+        [59, 0, 360],
+        [61, 0, 360],
+        [62, 0, 360],
+        [64, 0, 360],
+        [65, 0, 360],
+        [67, 0, 360],
+        [68, 0, 360],
+        [70, 0, 360],
+        [71, 0, 360],
+        [73, 0, 360],
+        [74, 0, 360],
+        [76, 0, 360],
+        [77, 0, 360],
+        [79, 0, 360],
+        [80, 0, 360],
+        [82, 0, 360],
+        [83, 0, 360],
+        [85, 0, 360],
+        [86, 0, 360],
+        [88, 0, 360],
+        [89, 0, 360],
+        [91, 0, 360],
+        [92, 0, 360],
+        [94, 0, 360],
+        [95, 0, 360],
+        [97, 0, 360],
+        [98, 0, 360],
+        [100, 0, 360],
+        [101, 0, 360],
+        [103, 0, 360],
+        [104, 0, 360],
+        [106, 0, 360],
+        [107, 0, 360],
+        [109, 0, 360],
+        [110, 0, 360],
+        [112, 0, 360],
+        [113, 0, 360],
+        [115, 0, 360],
+        [116, 0, 360],
+        [118, 0, 360],
+        [119, 0, 360],
+        [121, 0, 360],
+        [122, 0, 360],
+        [124, 0, 360],
+        [125, 0, 360],
+        [127, 0, 360]
         ]
       }
diff --git a/aip_x2_gen2_launch/config/point_filters_two_third.param.yaml b/aip_x2_gen2_launch/config/point_filters_two_third.param.yaml
new file mode 100644
index 00000000..45a57f55
--- /dev/null
+++ b/aip_x2_gen2_launch/config/point_filters_two_third.param.yaml
@@ -0,0 +1,50 @@
+/**:
+  ros__parameters:
+    point_filters: |
+      {
+        "ring_section_filter": [
+        [0, 0, 360],
+        [3, 0, 360],
+        [6, 0, 360],
+        [9, 0, 360],
+        [12, 0, 360],
+        [15, 0, 360],
+        [18, 0, 360],
+        [21, 0, 360],
+        [24, 0, 360],
+        [27, 0, 360],
+        [30, 0, 360],
+        [33, 0, 360],
+        [36, 0, 360],
+        [39, 0, 360],
+        [42, 0, 360],
+        [45, 0, 360],
+        [48, 0, 360],
+        [51, 0, 360],
+        [54, 0, 360],
+        [57, 0, 360],
+        [60, 0, 360],
+        [63, 0, 360],
+        [66, 0, 360],
+        [69, 0, 360],
+        [72, 0, 360],
+        [75, 0, 360],
+        [78, 0, 360],
+        [81, 0, 360],
+        [84, 0, 360],
+        [87, 0, 360],
+        [90, 0, 360],
+        [93, 0, 360],
+        [96, 0, 360],
+        [99, 0, 360],
+        [102, 0, 360],
+        [105, 0, 360],
+        [108, 0, 360],
+        [111, 0, 360],
+        [114, 0, 360],
+        [117, 0, 360],
+        [120, 0, 360],
+        [123, 0, 360],
+        [126, 0, 360]
+        ]
+      }
diff --git a/aip_x2_gen2_launch/config/point_filters_two_thirds.param copy.yaml b/aip_x2_gen2_launch/config/point_filters_two_thirds.param copy.yaml
deleted file mode 100644
index 075381cc..00000000
--- a/aip_x2_gen2_launch/config/point_filters_two_thirds.param copy.yaml	
+++ /dev/null
@@ -1,92 +0,0 @@
-/**:
-  ros__parameters:
-    point_filters: |
-      {
-        "ring_section_filter": [
-        [1, 0, 360],
-        [2, 0, 360],
-        [4, 0, 360],
-        [5, 0, 360],
-        [7, 0, 360],
-        [8, 0, 360],
-        [10, 0, 360],
-        [11, 0, 360],
-        [13, 0, 360],
-        [14, 0, 360],
-        [16, 0, 360],
-        [17, 0, 360],
-        [19, 0, 360],
-        [20, 0, 360],
-        [22, 0, 360],
-        [23, 0, 360],
-        [25, 0, 360],
-        [26, 0, 360],
-        [28, 0, 360],
-        [29, 0, 360],
-        [31, 0, 360],
-        [32, 0, 360],
-        [34, 0, 360],
-        [35, 0, 360],
-        [37, 0, 360],
-        [38, 0, 360],
-        [40, 0, 360],
-        [41, 0, 360],
-        [43, 0, 360],
-        [44, 0, 360],
-        [46, 0, 360],
-        [47, 0, 360],
-        [49, 0, 360],
-        [50, 0, 360],
-        [52, 0, 360],
-        [53, 0, 360],
-        [55, 0, 360],
-        [56, 0, 360],
-        [58, 0, 360],
-        [59, 0, 360],
-        [61, 0, 360],
-        [62, 0, 360],
-        [64, 0, 360],
-        [65, 0, 360],
-        [67, 0, 360],
-        [68, 0, 360],
-        [70, 0, 360],
-        [71, 0, 360],
-        [73, 0, 360],
-        [74, 0, 360],
-        [76, 0, 360],
-        [77, 0, 360],
-        [79, 0, 360],
-        [80, 0, 360],
-        [82, 0, 360],
-        [83, 0, 360],
-        [85, 0, 360],
-        [86, 0, 360],
-        [88, 0, 360],
-        [89, 0, 360],
-        [91, 0, 360],
-        [92, 0, 360],
-        [94, 0, 360],
-        [95, 0, 360],
-        [97, 0, 360],
-        [98, 0, 360],
-        [100, 0, 360],
-        [101, 0, 360],
-        [103, 0, 360],
-        [104, 0, 360],
-        [106, 0, 360],
-        [107, 0, 360],
-        [109, 0, 360],
-        [110, 0, 360],
-        [112, 0, 360],
-        [113, 0, 360],
-        [115, 0, 360],
-        [116, 0, 360],
-        [118, 0, 360],
-        [119, 0, 360],
-        [121, 0, 360],
-        [122, 0, 360],
-        [124, 0, 360],
-        [125, 0, 360],
-        [127, 0, 360]
-        ]
-      }
diff --git a/aip_x2_gen2_launch/launch/lidar.launch.xml b/aip_x2_gen2_launch/launch/lidar.launch.xml
index 5d92d3ad..51586efd 100644
--- a/aip_x2_gen2_launch/launch/lidar.launch.xml
+++ b/aip_x2_gen2_launch/launch/lidar.launch.xml
@@ -55,7 +55,7 @@
         <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="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters_one_half.param.yaml" />
+        <arg name="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters_one_third.param.yaml" />
       </include>
     </group>
 
@@ -89,6 +89,7 @@
         <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="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters_one_third.param.yaml" />
       </include>
     </group>
 
@@ -189,6 +190,7 @@
         <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="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters_one_third.param.yaml" />
       </include>
     </group>
 
@@ -222,6 +224,7 @@
         <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="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters_one_third.param.yaml" />
       </include>
     </group>
 

From 06fba10f233507d927de4b01507e1492d33e3b0b Mon Sep 17 00:00:00 2001
From: kotaro-hihara <kotaro.hihara@tier4.jp>
Date: Wed, 2 Oct 2024 16:53:52 +0900
Subject: [PATCH 6/7] set default no reduction

---
 aip_x2_gen2_launch/launch/lidar.launch.xml | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/aip_x2_gen2_launch/launch/lidar.launch.xml b/aip_x2_gen2_launch/launch/lidar.launch.xml
index 51586efd..28db077c 100644
--- a/aip_x2_gen2_launch/launch/lidar.launch.xml
+++ b/aip_x2_gen2_launch/launch/lidar.launch.xml
@@ -55,7 +55,7 @@
         <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="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters_one_third.param.yaml" />
+        <arg name="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters_full.param.yaml" />
       </include>
     </group>
 
@@ -89,7 +89,7 @@
         <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="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters_one_third.param.yaml" />
+        <arg name="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters_full.param.yaml" />
       </include>
     </group>
 
@@ -190,7 +190,7 @@
         <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="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters_one_third.param.yaml" />
+        <arg name="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters_full.param.yaml" />
       </include>
     </group>
 
@@ -224,7 +224,7 @@
         <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="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters_one_third.param.yaml" />
+        <arg name="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters_full.param.yaml" />
       </include>
     </group>
 

From daa6e2d724a18abe27a97b8b1689baee5b595cd3 Mon Sep 17 00:00:00 2001
From: Tomohito ANDO <tomohito.ando@tier4.jp>
Date: Wed, 9 Oct 2024 08:45:05 +0900
Subject: [PATCH 7/7] fix

Signed-off-by: Tomohito ANDO <tomohito.ando@tier4.jp>
---
 aip_x2_gen2_launch/launch/lidar.launch.xml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/aip_x2_gen2_launch/launch/lidar.launch.xml b/aip_x2_gen2_launch/launch/lidar.launch.xml
index 0e5dc758..6c68f439 100644
--- a/aip_x2_gen2_launch/launch/lidar.launch.xml
+++ b/aip_x2_gen2_launch/launch/lidar.launch.xml
@@ -190,7 +190,7 @@
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="calibration_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/front_upper.csv" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
-        <arg name="point_filters_param_file" value="$(var point_filters_param_file)"/>
+        <arg name="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters_full.param.yaml" />
       </include>
     </group>
 
@@ -224,7 +224,7 @@
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="calibration_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/right_upper.csv" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
-        <arg name="point_filters_param_file" value="$(var point_filters_param_file)"/>
+        <arg name="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters_full.param.yaml" />
       </include>
     </group>