From 4748c456d41c7099f913cecca7b31aecb9abf1e7 Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Tue, 26 Dec 2023 20:18:18 +0900
Subject: [PATCH] fix: x2 launch

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
 aip_x2_launch/launch/lidar.launch.xml         | 33 +++++++++++++++++++
 .../launch/pandar_node_container.launch.py    |  6 +++-
 2 files changed, 38 insertions(+), 1 deletion(-)

diff --git a/aip_x2_launch/launch/lidar.launch.xml b/aip_x2_launch/launch/lidar.launch.xml
index 6f478053..89375e8c 100644
--- a/aip_x2_launch/launch/lidar.launch.xml
+++ b/aip_x2_launch/launch/lidar.launch.xml
@@ -7,6 +7,7 @@
   <arg name="use_pointcloud_container" default="false" description="launch pointcloud container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name="dual_return_filter_param_file" default="$(find-pkg-share aip_x2_launch)/config/dual_return_filter.param.yaml"/>
+  <arg name="enable_blockage_diag" default="true"/>
 
   <group>
     <push-ros-namespace namespace="lidar" />
@@ -26,6 +27,10 @@
         <arg name="return_mode" value="Strongest" />
         <arg name="min_azimuth_deg" value="135.0"/>
         <arg name="max_azimuth_deg" value="225.0"/>
+        <arg name="is_channel_order_top2down" value="true"/>
+        <arg name="max_distance_range" value="200.0"/>
+        <arg name="horizontal_resolution" value="0.4"/>
+        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/front_lower.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
@@ -46,6 +51,10 @@
         <arg name="vertical_bins" value ="64" />
         <arg name="horizontal_ring_id" value="40" />
         <arg name="return_mode" value="First" />
+        <arg name="is_channel_order_top2down" value="false"/>
+        <arg name="max_distance_range" value="7.5"/>
+        <arg name="horizontal_resolution" value="0.6"/>
+        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/front_upper.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
@@ -68,6 +77,10 @@
         <arg name="horizontal_ring_id" value="12" />
         <arg name="min_azimuth_deg" value="225.0"/>
         <arg name="max_azimuth_deg" value="315.0"/>
+        <arg name="is_channel_order_top2down" value="true"/>
+        <arg name="max_distance_range" value="200.0"/>
+        <arg name="horizontal_resolution" value="0.4"/>
+        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="return_mode" value="Dual" />
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/left_upper.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />
@@ -89,6 +102,10 @@
         <arg name="distance_range" value="[0.1, 7.5]"/>
         <arg name="vertical_bins" value ="64" />
         <arg name="horizontal_ring_id" value="54" />
+        <arg name="is_channel_order_top2down" value="false"/>
+        <arg name="max_distance_range" value="7.5"/>
+        <arg name="horizontal_resolution" value="0.6"/>
+        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="return_mode" value="First" />
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/left_lower.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />
@@ -112,6 +129,10 @@
         <arg name="horizontal_ring_id" value="12" />
         <arg name="min_azimuth_deg" value="45.0"/>
         <arg name="max_azimuth_deg" value="135.0"/>
+        <arg name="is_channel_order_top2down" value="true"/>
+        <arg name="max_distance_range" value="200.0"/>
+        <arg name="horizontal_resolution" value="0.4"/>
+        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="return_mode" value="Dual" />
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/right_upper.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />
@@ -133,6 +154,10 @@
         <arg name="distance_range" value="[0.1, 7.5]"/>
         <arg name="vertical_bins" value ="64" />
         <arg name="horizontal_ring_id" value="54" />
+        <arg name="is_channel_order_top2down" value="false"/>
+        <arg name="max_distance_range" value="7.5"/>
+        <arg name="horizontal_resolution" value="0.6"/>
+        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="return_mode" value="First" />
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/right_lower.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />
@@ -156,6 +181,10 @@
         <arg name="horizontal_ring_id" value="12" />
         <arg name="min_azimuth_deg" value="135.0"/>
         <arg name="max_azimuth_deg" value="225.0"/>
+        <arg name="is_channel_order_top2down" value="true"/>
+        <arg name="max_distance_range" value="200.0"/>
+        <arg name="horizontal_resolution" value="0.4"/>
+        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="return_mode" value="Strongest" />
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/rear_lower.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />
@@ -177,6 +206,10 @@
         <arg name="distance_range" value="[0.1, 7.5]"/>
         <arg name="vertical_bins" value ="64" />
         <arg name="horizontal_ring_id" value="40" />
+        <arg name="is_channel_order_top2down" value="false"/>
+        <arg name="max_distance_range" value="7.5"/>
+        <arg name="horizontal_resolution" value="0.6"/>
+        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="return_mode" value="First" />
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/rear_upper.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />
diff --git a/aip_x2_launch/launch/pandar_node_container.launch.py b/aip_x2_launch/launch/pandar_node_container.launch.py
index cfb39cc4..c6f1da37 100644
--- a/aip_x2_launch/launch/pandar_node_container.launch.py
+++ b/aip_x2_launch/launch/pandar_node_container.launch.py
@@ -245,7 +245,9 @@ def create_parameter_dict(*args):
                 "angle_range": LaunchConfiguration("angle_range"),
                 "horizontal_ring_id": LaunchConfiguration("horizontal_ring_id"),
                 "vertical_bins": LaunchConfiguration("vertical_bins"),
-                "model": LaunchConfiguration("model"),
+                "is_channel_order_top2down": LaunchConfiguration("is_channel_order_top2down"),
+                "max_distance_range": LaunchConfiguration("max_distance_range"),
+                "horizontal_resolution": LaunchConfiguration("horizontal_resolution"),
             }
         ]
         + [load_composable_node_param("blockage_diagnostics_param_file")],
@@ -323,6 +325,8 @@ def add_launch_arg(name: str, default_value=None):
     add_launch_arg("input_frame", LaunchConfiguration("base_frame"))
     add_launch_arg("output_frame", LaunchConfiguration("base_frame"))
     add_launch_arg("dual_return_filter_param_file")
+    add_launch_arg("horizontal_resolution", "0.4")
+    add_launch_arg("max_distance_range", "200.0")
     add_launch_arg(
         "blockage_diagnostics_param_file",
         [FindPackageShare("aip_x2_launch"), "/config/blockage_diagnostics_param_file.yaml"],