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fix(aip_x2_gen2_launch): lidar distacne range #359

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merged 1 commit into from
Dec 18, 2024
Merged

fix(aip_x2_gen2_launch): lidar distacne range #359

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7 changes: 5 additions & 2 deletions 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 @@ -19,8 +19,9 @@
<arg name="vehicle_mirror_param_file"/>
<arg name="container_name" default="hesai_node_container"/>
<arg name="setup_sensor" default="true"/>

<arg name="distance_range" default="[0.5, 200.0]"/>
<arg name="min_range" default="0.3"/>
<arg name="max_range" default="230.0"/>
<arg name="distance_range" default="[0.3, 230.0]"/>
<arg name="blockage_range" default="[90.0, 270.0]"/>
<arg name="vertical_bins" default ="128" />
<arg name="horizontal_ring_id" default="12" />
Expand Down Expand Up @@ -57,6 +58,8 @@
<arg name="container_name" value="$(var container_name)"/>
<arg name="setup_sensor" value="$(var setup_sensor)"/>

<arg name="min_range" value="$(var min_range)"/>
<arg name="max_range" value="$(var max_range)"/>
<arg name="distance_range" value="$(var distance_range)"/>
<arg name="blockage_range" value="$(var blockage_range)"/>
<arg name="vertical_bins" value ="$(var vertical_bins)"/>
Expand Down
8 changes: 5 additions & 3 deletions aip_x2_gen2_launch/launch/hesai_QT128.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -20,8 +20,9 @@
<arg name="ptp_domain" default="0"/>
<arg name="vehicle_mirror_param_file"/>
<arg name="container_name" default="hesai_node_container"/>

<arg name="distance_range" default="[0.5, 200.0]"/>
<arg name="min_range" default="0.05"/>
<arg name="max_range" default="50.0"/>
<arg name="distance_range" default="[0.05, 50.0]"/>
<arg name="blockage_range" default="[90.0, 270.0]"/>
<arg name="vertical_bins" default ="128" />
<arg name="horizontal_ring_id" default="12" />
Expand Down Expand Up @@ -56,7 +57,8 @@
<arg name="use_intra_process" value="true"/>
<arg name="use_multithread" value="true"/>
<arg name="container_name" value="$(var container_name)"/>

<arg name="min_range" value="$(var min_range)"/>
<arg name="max_range" value="$(var max_range)"/>
<arg name="distance_range" value="$(var distance_range)"/>
<arg name="blockage_range" value="$(var blockage_range)"/>
<arg name="vertical_bins" value ="$(var vertical_bins)"/>
Expand Down
15 changes: 0 additions & 15 deletions aip_x2_gen2_launch/launch/lidar.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -46,7 +46,6 @@
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
<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]"/>
<arg name="vertical_bins" value ="128" />
<arg name="horizontal_ring_id" value="40" />
Expand Down Expand Up @@ -79,8 +78,6 @@
<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="$(var pointcloud_container_name)"/>

<arg name="distance_range" value="[0.5, 200.0]"/>
<arg name="blockage_range" value="[90.0, 270.0]"/>
<arg name="vertical_bins" value ="128" />
<arg name="horizontal_ring_id" value="40" />
Expand Down Expand Up @@ -113,8 +110,6 @@
<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="$(var pointcloud_container_name)"/>

<arg name="distance_range" value="[0.5, 200.0]"/>
<arg name="blockage_range" value="[90.0, 270.0]"/>
<arg name="vertical_bins" value ="128" />
<arg name="horizontal_ring_id" value="118" />
Expand Down Expand Up @@ -147,8 +142,6 @@
<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="$(var pointcloud_container_name)"/>

<arg name="distance_range" value="[0.5, 200.0]"/>
<arg name="blockage_range" value="[90.0, 270.0]"/>
<arg name="vertical_bins" value ="128" />
<arg name="horizontal_ring_id" value="118" />
Expand Down Expand Up @@ -182,8 +175,6 @@
<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="$(var pointcloud_container_name)"/>

<arg name="distance_range" value="[0.5, 200.0]"/>
<arg name="blockage_range" value="[90.0, 270.0]"/>
<arg name="vertical_bins" value ="128" />
<arg name="horizontal_ring_id" value="40" />
Expand Down Expand Up @@ -216,8 +207,6 @@
<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="$(var pointcloud_container_name)"/>

<arg name="distance_range" value="[0.5, 200.0]"/>
<arg name="blockage_range" value="[90.0, 270.0]"/>
<arg name="vertical_bins" value ="128" />
<arg name="horizontal_ring_id" value="40" />
Expand Down Expand Up @@ -250,8 +239,6 @@
<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="$(var pointcloud_container_name)"/>

<arg name="distance_range" value="[0.5, 200.0]"/>
<arg name="blockage_range" value="[90.0, 270.0]"/>
<arg name="vertical_bins" value ="128" />
<arg name="horizontal_ring_id" value="118" />
Expand Down Expand Up @@ -284,8 +271,6 @@
<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="$(var pointcloud_container_name)"/>

<arg name="distance_range" value="[0.5, 200.0]"/>
<arg name="blockage_range" value="[90.0, 270.0]"/>
<arg name="vertical_bins" value ="128" />
<arg name="horizontal_ring_id" value="118" />
Expand Down
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