fix(xt16): update default parameters and schema to comply with #239, #…

…256 Signed-off-by: Max SCHMELLER <[email protected]>
tier4 · Feb 4, 2025 · 48d9ab9 · 48d9ab9
1 parent 8edab25
commit 48d9ab9
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Showing 2 changed files with 6 additions and 1 deletion.
diff --git a/nebula_ros/config/lidar/hesai/PandarXT16.param.yaml b/nebula_ros/config/lidar/hesai/PandarXT16.param.yaml
@@ -1,6 +1,6 @@
 /**:
   ros__parameters:
-    host_ip: 255.255.255.255
+    host_ip: 192.168.1.10
     sensor_ip: 192.168.1.201
     multicast_ip: ""
     data_port: 2368
@@ -25,5 +25,6 @@
     ptp_domain: 0
     ptp_transport_type: UDP
     ptp_switch_type: TSN
+    ptp_lock_threshold: 100
     retry_hw: true
     dual_return_distance_threshold: 0.1
diff --git a/nebula_ros/schema/PandarXT16.schema.json b/nebula_ros/schema/PandarXT16.schema.json
@@ -93,6 +93,9 @@
         "ptp_switch_type": {
           "$ref": "sub/lidar_hesai.json#/definitions/ptp_switch_type"
         },
+        "ptp_lock_threshold": {
+          "$ref": "sub/lidar_hesai.json#/definitions/ptp_lock_threshold"
+        },
         "retry_hw": {
           "$ref": "sub/hardware.json#/definitions/retry_hw"
         },
@@ -124,6 +127,7 @@
         "ptp_domain",
         "ptp_transport_type",
         "ptp_switch_type",
+        "ptp_lock_threshold",
         "retry_hw",
         "dual_return_distance_threshold"
       ],