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Chore/lidar enable blockage diag #350

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merged 3 commits into from
Nov 28, 2024
Merged

Chore/lidar enable blockage diag #350

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8aa604b
fix vertical_bins
kotaro-hihara Nov 27, 2024
b72f749
enable blockage_diag
kotaro-hihara Nov 27, 2024
db71904
fix params for blockage_diag
kotaro-hihara Nov 28, 2024
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2 changes: 1 addition & 1 deletion aip_x2_gen2_launch/launch/hesai_OT128.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -22,7 +22,7 @@

<arg name="distance_range" default="[0.5, 200.0]"/>
<arg name="blockage_range" default="[90.0, 270.0]"/>
<arg name="vertical_bins" default ="40" />
<arg name="vertical_bins" default ="128" />
<arg name="horizontal_ring_id" default="12" />
<arg name="is_channel_order_top2down" default="true"/>
<arg name="horizontal_resolution" default="0.4"/>
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2 changes: 1 addition & 1 deletion aip_x2_gen2_launch/launch/hesai_QT128.launch.xml
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Expand Up @@ -23,7 +23,7 @@

<arg name="distance_range" default="[0.5, 200.0]"/>
<arg name="blockage_range" default="[90.0, 270.0]"/>
<arg name="vertical_bins" default ="40" />
<arg name="vertical_bins" default ="128" />
<arg name="horizontal_ring_id" default="12" />
<arg name="is_channel_order_top2down" default="true"/>
<arg name="horizontal_resolution" default="0.4"/>
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42 changes: 21 additions & 21 deletions aip_x2_gen2_launch/launch/lidar.launch.xml
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Expand Up @@ -11,7 +11,7 @@
<arg name="pointcloud_container_name" default="pointcloud_container"/>

<arg name="dual_return_filter_param_file" default="$(find-pkg-share aip_x2_gen2_launch)/config/dual_return_filter.param.yaml"/>
<arg name="enable_blockage_diag" default="false"/>
<arg name="enable_blockage_diag" default="true"/>

<group>
<push-ros-namespace namespace="lidar" />
Expand Down Expand Up @@ -48,8 +48,8 @@

<arg name="distance_range" value="[0.5, 200.0]"/>
<arg name="blockage_range" value="[90.0, 270.0]"/>
<arg name="vertical_bins" value ="40" />
<arg name="horizontal_ring_id" value="12" />
<arg name="vertical_bins" value ="128" />
<arg name="horizontal_ring_id" value="40" />
<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)"/>
Expand Down Expand Up @@ -82,8 +82,8 @@

<arg name="distance_range" value="[0.5, 200.0]"/>
<arg name="blockage_range" value="[90.0, 270.0]"/>
<arg name="vertical_bins" value ="40" />
<arg name="horizontal_ring_id" value="12" />
<arg name="vertical_bins" value ="128" />
<arg name="horizontal_ring_id" value="40" />
<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)"/>
Expand Down Expand Up @@ -116,9 +116,9 @@

<arg name="distance_range" value="[0.5, 200.0]"/>
<arg name="blockage_range" value="[90.0, 270.0]"/>
<arg name="vertical_bins" value ="40" />
<arg name="horizontal_ring_id" value="12" />
<arg name="is_channel_order_top2down" value="true"/>
<arg name="vertical_bins" value ="128" />
<arg name="horizontal_ring_id" value="118" />
<arg name="is_channel_order_top2down" value="false"/>
<arg name="horizontal_resolution" value="0.4"/>
<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/rear_lower.csv" />
Expand Down Expand Up @@ -150,9 +150,9 @@

<arg name="distance_range" value="[0.5, 200.0]"/>
<arg name="blockage_range" value="[90.0, 270.0]"/>
<arg name="vertical_bins" value ="40" />
<arg name="horizontal_ring_id" value="12" />
<arg name="is_channel_order_top2down" value="true"/>
<arg name="vertical_bins" value ="128" />
<arg name="horizontal_ring_id" value="118" />
<arg name="is_channel_order_top2down" value="false"/>
<arg name="horizontal_resolution" value="0.4"/>
<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/left_lower.csv" />
Expand Down Expand Up @@ -185,8 +185,8 @@

<arg name="distance_range" value="[0.5, 200.0]"/>
<arg name="blockage_range" value="[90.0, 270.0]"/>
<arg name="vertical_bins" value ="40" />
<arg name="horizontal_ring_id" value="12" />
<arg name="vertical_bins" value ="128" />
<arg name="horizontal_ring_id" value="40" />
<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)"/>
Expand Down Expand Up @@ -219,8 +219,8 @@

<arg name="distance_range" value="[0.5, 200.0]"/>
<arg name="blockage_range" value="[90.0, 270.0]"/>
<arg name="vertical_bins" value ="40" />
<arg name="horizontal_ring_id" value="12" />
<arg name="vertical_bins" value ="128" />
<arg name="horizontal_ring_id" value="40" />
<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)"/>
Expand Down Expand Up @@ -253,9 +253,9 @@

<arg name="distance_range" value="[0.5, 200.0]"/>
<arg name="blockage_range" value="[90.0, 270.0]"/>
<arg name="vertical_bins" value ="40" />
<arg name="horizontal_ring_id" value="12" />
<arg name="is_channel_order_top2down" value="true"/>
<arg name="vertical_bins" value ="128" />
<arg name="horizontal_ring_id" value="118" />
<arg name="is_channel_order_top2down" value="false"/>
<arg name="horizontal_resolution" value="0.4"/>
<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_lower.csv" />
Expand Down Expand Up @@ -287,9 +287,9 @@

<arg name="distance_range" value="[0.5, 200.0]"/>
<arg name="blockage_range" value="[90.0, 270.0]"/>
<arg name="vertical_bins" value ="40" />
<arg name="horizontal_ring_id" value="12" />
<arg name="is_channel_order_top2down" value="true"/>
<arg name="vertical_bins" value ="128" />
<arg name="horizontal_ring_id" value="118" />
<arg name="is_channel_order_top2down" value="false"/>
<arg name="horizontal_resolution" value="0.4"/>
<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_lower.csv" />
Expand Down
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