From b8d4d5ac73ff0f477d8e080923381d85be5b82e9 Mon Sep 17 00:00:00 2001
From: Autumn60 <37181352+Autumn60@users.noreply.github.com>
Date: Wed, 24 Jul 2024 20:49:47 +0900
Subject: [PATCH] chore(blockage_diag): update param for aip_x1_launch (#268)

* add enable_blockage_diag argument to lidar.launch.xml

Signed-off-by: Autumn60 <akiro.harada@tier4.jp>

* ci(pre-commit): autofix

---------

Signed-off-by: Autumn60 <akiro.harada@tier4.jp>
Co-authored-by: Autumn60 <akiro.harada@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
---
 aip_x1_launch/launch/lidar.launch.xml                  | 2 ++
 aip_x1_launch/launch/pointcloud_preprocessor.launch.py | 2 +-
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/aip_x1_launch/launch/lidar.launch.xml b/aip_x1_launch/launch/lidar.launch.xml
index 781c360d..f1796100 100644
--- a/aip_x1_launch/launch/lidar.launch.xml
+++ b/aip_x1_launch/launch/lidar.launch.xml
@@ -7,6 +7,7 @@
   <arg name="vehicle_id" default="$(env VEHICLE_ID default)" />
   <arg name="vehicle_mirror_param_file" />
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
+  <arg name="enable_blockage_diag" default="false"/>
 
   <group>
     <push-ros-namespace namespace="lidar"/>
@@ -22,6 +23,7 @@
         <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="pointcloud_container"/>
+        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
       </include>
     </group>
 
diff --git a/aip_x1_launch/launch/pointcloud_preprocessor.launch.py b/aip_x1_launch/launch/pointcloud_preprocessor.launch.py
index 9a594718..32c7e1b1 100644
--- a/aip_x1_launch/launch/pointcloud_preprocessor.launch.py
+++ b/aip_x1_launch/launch/pointcloud_preprocessor.launch.py
@@ -43,7 +43,7 @@ def launch_setup(context, *args, **kwargs):
                 "input_offset": [
                     0.055,
                     0.025,
-                ],                
+                ],
                 "timeout_sec": 0.095,
                 "input_twist_topic_type": "twist",
                 "publish_synchronized_pointcloud": True,