From 87f08e4dc253b416601326b0f318f8f0bd6bd353 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Thu, 18 Jul 2024 17:22:44 +0900
Subject: [PATCH] refactor: change launch files to support new nebula
 architecture

---
 .../launch/component/hesai_at128.launch.xml   | 56 +++++--------------
 .../component/hesai_pandar_xt32.launch.xml    | 55 +++++-------------
 2 files changed, 29 insertions(+), 82 deletions(-)

diff --git a/edge_auto_launch/launch/component/hesai_at128.launch.xml b/edge_auto_launch/launch/component/hesai_at128.launch.xml
index b679985..ab255a2 100755
--- a/edge_auto_launch/launch/component/hesai_at128.launch.xml
+++ b/edge_auto_launch/launch/component/hesai_at128.launch.xml
@@ -1,11 +1,11 @@
 <launch>
-  <arg name="live_sensor" default="True"/>
+  <arg name="live_sensor" default="true"/>
   <arg name="sensor_model" default="PandarAT128"/>
+  <arg name="config_file" default="$(find-pkg-share nebula_ros)/config/lidar/hesai/$(var sensor_model).param.yaml"/>
   <arg name="return_mode" default="Strongest"/>
   <arg name="frame_id" default="lidar"/>
   <arg name="scan_phase" default="0.0"/>
   <arg name="namespace" default=""/>
-  <arg name="calibration_file" default="$(find-pkg-share nebula_decoders)/calibration/hesai/$(var sensor_model).csv"/>
   <arg name="correction_file" default="$(find-pkg-share nebula_decoders)/calibration/hesai/$(var sensor_model).dat"/>
   <arg name="sensor_ip" default="192.168.1.201"/>
   <arg name="host_ip" default="192.168.1.100"/>
@@ -17,59 +17,33 @@
   <arg name="cloud_max_angle" default="360" />
   <arg name="dual_return_distance_threshold" default="0.1"/>
   <arg name="diag_span" default="1000"/>
-  <arg name="setup_sensor" default="True"/>
+  <arg name="setup_sensor" default="true"/>
 
   <group>
     <node_container pkg="rclcpp_components" exec="component_container" name="nebula_at128_node" namespace="/">
-      <composable_node pkg="nebula_ros" plugin="HesaiDriverRosWrapper" name="hesai_driver_roswrapper_node" namespace="$(var namespace)">
+      <composable_node pkg="nebula_ros" plugin="HesaiRosWrapper" name="hesai_ros_wrapper_node" namespace="$(var namespace)">
+        <param from="$(var config_file)" allow_substs="true" />
         <param name="sensor_model" value="$(var sensor_model)"/>
-        <param name="return_mode" value="$(var return_mode)"/>
-        <param name="frame_id" value="$(var frame_id)"/>
-        <param name="scan_phase" value="$(var scan_phase)"/>
-        <param name="calibration_file" value="$(var calibration_file)"/>
-        <param name="correction_file" value="$(var correction_file)"/>
-        <remap from="pandar_points" to="pointcloud_raw"/>
-        <extra_arg name="use_intra_process_comms" value="true"/>
-      </composable_node>
-    </node_container>
-
-    <load_composable_node target="nebula_at128_node" if="$(var live_sensor)">
-      <composable_node pkg="nebula_ros" plugin="HesaiHwInterfaceRosWrapper" name="hesai_hw_interface_ros_wrapper_node" namespace="$(var namespace)">
-        <param name="sensor_model" value="$(var sensor_model)"/>
-        <param name="return_mode" value="$(var return_mode)"/>
-        <param name="frame_id" value="$(var frame_id)"/>
-        <param name="scan_phase" value="$(var scan_phase)"/>
-        <param name="sensor_ip" value="$(var sensor_ip)"/>
-        <param name="frame_id" value="$(var frame_id)"/>
+        <param name="launch_hw" value="$(var live_sensor)"/>
         <param name="host_ip" value="$(var host_ip)"/>
+        <param name="sensor_ip" value="$(var sensor_ip)"/>
         <param name="data_port" value="$(var data_port)"/>
         <param name="gnss_port" value="$(var gnss_port)"/>
         <param name="packet_mtu_size" value="$(var packet_mtu_size)"/>
-        <param name="rotation_speed" value="$(var rotation_speed)"/>
-        <param name="cloud_min_angle" value="$(var cloud_min_angle)"/>
-        <param name="cloud_max_angle" value="$(var cloud_max_angle)"/>
-        <param name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/>
         <param name="setup_sensor" value="$(var setup_sensor)"/>
-        <extra_arg name="use_intra_process_comms" value="true"/>
-      </composable_node>
-      <composable_node pkg="nebula_ros" plugin="HesaiHwMonitorRosWrapper" name="hesai_hw_monitor_ros_wrapper_node" namespace="$(var namespace)">
-        <param name="sensor_model" value="$(var sensor_model)"/>
-        <param name="return_mode" value="$(var return_mode)"/>
-        <param name="frame_id" value="$(var frame_id)"/>
-        <param name="scan_phase" value="$(var scan_phase)"/>
-        <param name="sensor_ip" value="$(var sensor_ip)"/>
         <param name="frame_id" value="$(var frame_id)"/>
-        <param name="host_ip" value="$(var host_ip)"/>
-        <param name="data_port" value="$(var data_port)"/>
-        <param name="gnss_port" value="$(var gnss_port)"/>
-        <param name="packet_mtu_size" value="$(var packet_mtu_size)"/>
-        <param name="rotation_speed" value="$(var rotation_speed)"/>
+        <param name="diag_span" value="$(var diag_span)"/>
         <param name="cloud_min_angle" value="$(var cloud_min_angle)"/>
         <param name="cloud_max_angle" value="$(var cloud_max_angle)"/>
-        <param name="diag_span" value="$(var diag_span)"/>
+        <param name="scan_phase" value="$(var scan_phase)"/>
+        <param name="rotation_speed" value="$(var rotation_speed)"/>
+        <param name="return_mode" value="$(var return_mode)"/>
+        <param name="correction_file" value="$(var correction_file)"/>
         <param name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/>
         <extra_arg name="use_intra_process_comms" value="true"/>
+        <remap from="pandar_points" to="pointcloud_raw"/>
       </composable_node>
-    </load_composable_node>
+    </node_container>
+
   </group>
 </launch>
diff --git a/edge_auto_launch/launch/component/hesai_pandar_xt32.launch.xml b/edge_auto_launch/launch/component/hesai_pandar_xt32.launch.xml
index f63b2c5..d1d75df 100755
--- a/edge_auto_launch/launch/component/hesai_pandar_xt32.launch.xml
+++ b/edge_auto_launch/launch/component/hesai_pandar_xt32.launch.xml
@@ -1,12 +1,12 @@
 <launch>
-  <arg name="live_sensor" default="False"/>
+  <arg name="live_sensor" default="false"/>
   <arg name="sensor_model" default="PandarXT32"/>
+  <arg name="config_file" default="$(find-pkg-share nebula_ros)/config/lidar/hesai/$(var sensor_model).param.yaml"/>
   <arg name="return_mode" default="Dual"/>
   <arg name="frame_id" default="lidar"/>
   <arg name="scan_phase" default="0.0"/>
   <arg name="namespace" default=""/>
   <arg name="calibration_file" default="$(find-pkg-share nebula_decoders)/calibration/hesai/$(var sensor_model).csv"/>
-  <arg name="correction_file" default="$(find-pkg-share nebula_decoders)/calibration/hesai/$(var sensor_model).dat"/>
   <arg name="sensor_ip" default="192.168.1.201"/>
   <arg name="host_ip" default="192.168.1.100"/>
   <arg name="data_port" default="2368"/>
@@ -17,59 +17,32 @@
   <arg name="cloud_max_angle" default="360"/>
   <arg name="dual_return_distance_threshold" default="0.1"/>
   <arg name="diag_span" default="1000"/>
-  <arg name="setup_sensor" default="True"/>
+  <arg name="setup_sensor" default="true"/>
 
   <group>
     <node_container pkg="rclcpp_components" exec="component_container" name="nebula_xt32_node" namespace="/">
-      <composable_node pkg="nebula_ros" plugin="HesaiDriverRosWrapper" name="hesai_driver_roswrapper_node" namespace="$(var namespace)">
+      <composable_node pkg="nebula_ros" plugin="HesaiRosWrapper" name="hesai_ros_wrapper_node" namespace="$(var namespace)">
+        <param from="$(var config_file)" allow_substs="true" />
         <param name="sensor_model" value="$(var sensor_model)"/>
-        <param name="return_mode" value="$(var return_mode)"/>
-        <param name="frame_id" value="$(var frame_id)"/>
-        <param name="scan_phase" value="$(var scan_phase)"/>
-        <param name="calibration_file" value="$(var calibration_file)"/>
-        <param name="correction_file" value="$(var correction_file)"/>
-        <remap from="pandar_points" to="pointcloud_raw"/>
-        <extra_arg name="use_intra_process_comms" value="true"/>
-      </composable_node>
-    </node_container>
-
-    <load_composable_node target="nebula_xt32_node" if="$(var live_sensor)">
-      <composable_node pkg="nebula_ros" plugin="HesaiHwInterfaceRosWrapper" name="hesai_hw_interface_ros_wrapper_node" namespace="$(var namespace)">
-        <param name="sensor_model" value="$(var sensor_model)"/>
-        <param name="return_mode" value="$(var return_mode)"/>
-        <param name="frame_id" value="$(var frame_id)"/>
-        <param name="scan_phase" value="$(var scan_phase)"/>
-        <param name="sensor_ip" value="$(var sensor_ip)"/>
-        <param name="frame_id" value="$(var frame_id)"/>
+        <param name="launch_hw" value="$(var live_sensor)"/>
         <param name="host_ip" value="$(var host_ip)"/>
+        <param name="sensor_ip" value="$(var sensor_ip)"/>
         <param name="data_port" value="$(var data_port)"/>
         <param name="gnss_port" value="$(var gnss_port)"/>
         <param name="packet_mtu_size" value="$(var packet_mtu_size)"/>
-        <param name="rotation_speed" value="$(var rotation_speed)"/>
-        <param name="cloud_min_angle" value="$(var cloud_min_angle)"/>
-        <param name="cloud_max_angle" value="$(var cloud_max_angle)"/>
-        <param name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/>
         <param name="setup_sensor" value="$(var setup_sensor)"/>
-        <extra_arg name="use_intra_process_comms" value="true"/>
-      </composable_node>
-      <composable_node pkg="nebula_ros" plugin="HesaiHwMonitorRosWrapper" name="hesai_hw_monitor_ros_wrapper_node" namespace="$(var namespace)">
-        <param name="sensor_model" value="$(var sensor_model)"/>
-        <param name="return_mode" value="$(var return_mode)"/>
-        <param name="frame_id" value="$(var frame_id)"/>
-        <param name="scan_phase" value="$(var scan_phase)"/>
-        <param name="sensor_ip" value="$(var sensor_ip)"/>
         <param name="frame_id" value="$(var frame_id)"/>
-        <param name="host_ip" value="$(var host_ip)"/>
-        <param name="data_port" value="$(var data_port)"/>
-        <param name="gnss_port" value="$(var gnss_port)"/>
-        <param name="packet_mtu_size" value="$(var packet_mtu_size)"/>
-        <param name="rotation_speed" value="$(var rotation_speed)"/>
+        <param name="diag_span" value="$(var diag_span)"/>
         <param name="cloud_min_angle" value="$(var cloud_min_angle)"/>
         <param name="cloud_max_angle" value="$(var cloud_max_angle)"/>
-        <param name="diag_span" value="$(var diag_span)"/>
+        <param name="scan_phase" value="$(var scan_phase)"/>
+        <param name="rotation_speed" value="$(var rotation_speed)"/>
+        <param name="return_mode" value="$(var return_mode)"/>
+        <param name="calibration_file" value="$(var calibration_file)"/>
         <param name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/>
         <extra_arg name="use_intra_process_comms" value="true"/>
+        <remap from="pandar_points" to="pointcloud_raw"/>
       </composable_node>
-    </load_composable_node>
+    </node_container>
   </group>
 </launch>