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fix(aip_gen2_x2_launch): fix lidar.launch.xml to update nebula #388

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merged 11 commits into from
Feb 7, 2025
Merged

fix(aip_gen2_x2_launch): fix lidar.launch.xml to update nebula #388

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509cf4c
add ptp_lock_threshold and udp_only
kotaro-hihara Feb 6, 2025
a6e26eb
add upd_only
kotaro-hihara Feb 6, 2025
44d3d9c
add sensor_model and launch_hw
kotaro-hihara Feb 6, 2025
bec75cd
add dual_return_distance_threshold
kotaro-hihara Feb 6, 2025
5f9b3c8
add blockage_diagnostics_param_file
kotaro-hihara Feb 6, 2025
3cdae06
use nebula_node_container.py from lidar.launch.xml
kotaro-hihara Feb 6, 2025
77362cf
fix argument error
kotaro-hihara Feb 6, 2025
e776dd5
fix sensor_frame to frame_id
kotaro-hihara Feb 6, 2025
bd7d39d
add min_range, max_range
kotaro-hihara Feb 6, 2025
4faeff4
remove unused launch file
kotaro-hihara Feb 6, 2025
35b7802
add params for dual_return_filter
kotaro-hihara Feb 6, 2025
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9 changes: 8 additions & 1 deletion aip_x2_gen2_launch/launch/lidar.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -42,10 +42,10 @@
<arg name="ptp_transport_type" value="L2"/>
<arg name="ptp_switch_type" value="NON_TSN"/>
<arg name="ptp_domain" value="0"/>
<arg name="ptp_lock_threshold" value="100"/>
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<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="blockage_range" value="[90.0, 270.0]"/>
<arg name="vertical_bins" value ="128" />
<arg name="horizontal_ring_id" value="40" />
Expand Down Expand Up @@ -75,6 +75,7 @@
<arg name="ptp_transport_type" value="L2"/>
<arg name="ptp_switch_type" value="NON_TSN"/>
<arg name="ptp_domain" value="0"/>
<arg name="ptp_lock_threshold" value="100"/>
<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="$(var pointcloud_container_name)"/>
Expand Down Expand Up @@ -107,6 +108,7 @@
<arg name="ptp_transport_type" value="L2"/>
<arg name="ptp_switch_type" value="NON_TSN"/>
<arg name="ptp_domain" value="0"/>
<arg name="ptp_lock_threshold" value="100"/>
<arg name="launch_driver" value="$(var launch_driver)"/>
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
<arg name="container_name" value="$(var pointcloud_container_name)"/>
Expand Down Expand Up @@ -139,6 +141,7 @@
<arg name="ptp_transport_type" value="L2"/>
<arg name="ptp_switch_type" value="NON_TSN"/>
<arg name="ptp_domain" value="0"/>
<arg name="ptp_lock_threshold" value="100"/>
<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="$(var pointcloud_container_name)"/>
Expand Down Expand Up @@ -172,6 +175,7 @@
<arg name="ptp_transport_type" value="L2"/>
<arg name="ptp_switch_type" value="NON_TSN"/>
<arg name="ptp_domain" value="0"/>
<arg name="ptp_lock_threshold" value="100"/>
<arg name="launch_driver" value="$(var launch_driver)"/>
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
<arg name="container_name" value="$(var pointcloud_container_name)"/>
Expand Down Expand Up @@ -204,6 +208,7 @@
<arg name="ptp_transport_type" value="L2"/>
<arg name="ptp_switch_type" value="NON_TSN"/>
<arg name="ptp_domain" value="0"/>
<arg name="ptp_lock_threshold" value="100"/>
<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="$(var pointcloud_container_name)"/>
Expand Down Expand Up @@ -236,6 +241,7 @@
<arg name="ptp_transport_type" value="L2"/>
<arg name="ptp_switch_type" value="NON_TSN"/>
<arg name="ptp_domain" value="0"/>
<arg name="ptp_lock_threshold" value="100"/>
<arg name="launch_driver" value="$(var launch_driver)"/>
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
<arg name="container_name" value="$(var pointcloud_container_name)"/>
Expand Down Expand Up @@ -268,6 +274,7 @@
<arg name="ptp_transport_type" value="L2"/>
<arg name="ptp_switch_type" value="NON_TSN"/>
<arg name="ptp_domain" value="0"/>
<arg name="ptp_lock_threshold" value="100"/>
<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)"/>
Expand Down
4 changes: 4 additions & 0 deletions aip_x2_gen2_launch/launch/nebula_node_container.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -110,9 +110,11 @@ def str2vector(string):
"ptp_transport_type",
"ptp_switch_type",
"ptp_domain",
"ptp_lock_threshold",
"diag_span",
"calibration_file",
"launch_hw",
"udp_only",
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),
"retry_hw": True,
},
Expand Down Expand Up @@ -288,6 +290,8 @@ def add_launch_arg(name: str, default_value=None, description=None):
add_launch_arg("host_ip", "255.255.255.255", "host ip address")
add_launch_arg("sync_angle", "0")
add_launch_arg("cut_angle", "0.0")
add_launch_arg("ptp_lock_threshold", "100")
add_launch_arg("udp_only", "False")
# add_launch_arg("point_filters", "{}", "point filter definitions in JSON format")
add_launch_arg("base_frame", "base_link", "base frame id")
add_launch_arg("min_range", "0.3", "minimum view range for Velodyne sensors")
Expand Down
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