fix: change velodyne to use min and max angle parameters instead of v…

…iew angle, increase max view angle to 360

Signed-off-by: David Wong <[email protected]>

aip_xx1_launch/launch/lidar.launch.xml

@@ -1,10 +1,10 @@
 <launch>
 
-  <arg name="launch_driver" default="true" />
-  <arg name="host_ip" default="192.168.1.10" />
-  <arg name="use_concat_filter" default="true" />
-  <arg name ="vehicle_id" default="$(env VEHICLE_ID default)" />
-  <arg name="vehicle_mirror_param_file" />
+  <arg name="launch_driver" default="true"/>
+  <arg name="host_ip" default="192.168.1.10"/>
+  <arg name="use_concat_filter" default="true"/>
+  <arg name ="vehicle_id" default="$(env VEHICLE_ID default)"/>
+  <arg name="vehicle_mirror_param_file"/>
   <arg name="use_pointcloud_container" default="false" description="launch pointcloud container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
 
@@ -14,69 +14,69 @@
     <group>
       <push-ros-namespace namespace="top"/>
       <include file="$(find-pkg-share common_sensor_launch)/launch/velodyne_VLS128.launch.xml">
-        <arg name="max_range" value="250.0" />
-        <arg name="sensor_frame" value="velodyne_top" />
+        <arg name="max_range" value="250.0"/>
+        <arg name="sensor_frame" value="velodyne_top"/>
         <arg name="device_ip" value="192.168.1.201"/>
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2368"/>
-        <arg name="scan_phase" value="300.0" />
-        <arg name="launch_driver" value="$(var launch_driver)" />
-        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
-        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
+        <arg name="scan_phase" value="300.0"/>
+        <arg name="launch_driver" value="$(var launch_driver)"/>
+        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
+        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
       </include>
     </group>
 
     <group>
       <push-ros-namespace namespace="left"/>
       <include file="$(find-pkg-share common_sensor_launch)/launch/velodyne_VLP16.launch.xml">
-        <arg name="max_range" value="5.0" />
-        <arg name="sensor_frame" value="velodyne_left" />
+        <arg name="max_range" value="5.0"/>
+        <arg name="sensor_frame" value="velodyne_left"/>
         <arg name="device_ip" value="192.168.1.202"/>
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2369"/>
-        <arg name="scan_phase" value="180.0" />
-        <arg name="view_direction" value="0.0" />
-        <arg name="view_width" value="1.9" />
-        <arg name="launch_driver" value="$(var launch_driver)" />
-        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
-        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
+        <arg name="scan_phase" value="180.0"/>
+        <arg name="cloud_min_angle" value="300"/>
+        <arg name="cloud_max_angle" value="60"/>
+        <arg name="launch_driver" value="$(var launch_driver)"/>
+        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
+        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
       </include>
     </group>
 
     <group>
       <push-ros-namespace namespace="right"/>
       <include file="$(find-pkg-share common_sensor_launch)/launch/velodyne_VLP16.launch.xml">
-        <arg name="max_range" value="5.0" />
-        <arg name="sensor_frame" value="velodyne_right" />
+        <arg name="max_range" value="5.0"/>
+        <arg name="sensor_frame" value="velodyne_right"/>
         <arg name="device_ip" value="192.168.1.203"/>
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2370"/>
-        <arg name="scan_phase" value="180.0" />
-        <arg name="view_direction" value="0.0" />
-        <arg name="view_width" value="1.9" />
-        <arg name="launch_driver" value="$(var launch_driver)" />
-        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
-        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
+        <arg name="scan_phase" value="180.0"/>
+        <arg name="cloud_min_angle" value="300"/>
+        <arg name="cloud_max_angle" value="60"/>
+        <arg name="launch_driver" value="$(var launch_driver)"/>
+        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
+        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
       </include>
     </group>
 
     <group>
       <push-ros-namespace namespace="rear"/>
       <include file="$(find-pkg-share common_sensor_launch)/launch/velodyne_VLP16.launch.xml">
-        <arg name="max_range" value="1.5" />
-        <arg name="sensor_frame" value="velodyne_rear" />
+        <arg name="max_range" value="1.5"/>
+        <arg name="sensor_frame" value="velodyne_rear"/>
         <arg name="device_ip" value="192.168.1.204"/>
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2371"/>
-        <arg name="scan_phase" value="180.0" />
-        <arg name="view_direction" value="0.0" />
-        <arg name="view_width" value="1.9" />
-        <arg name="launch_driver" value="$(var launch_driver)" />
-        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
-        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
+        <arg name="scan_phase" value="180.0"/>
+        <arg name="cloud_min_angle" value="300"/>
+        <arg name="cloud_max_angle" value="60"/>
+        <arg name="launch_driver" value="$(var launch_driver)"/>
+        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
+        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
       </include>
     </group>
@@ -102,10 +102,10 @@
     </group> -->
 
     <include file="$(find-pkg-share aip_xx1_launch)/launch/pointcloud_preprocessor.launch.py">
-      <arg name="base_frame" value="base_link" />
-      <arg name="use_intra_process" value="true" />
-      <arg name="use_multithread" value="true" />
-      <arg name="use_pointcloud_container" value="true" />
+      <arg name="base_frame" value="base_link"/>
+      <arg name="use_intra_process" value="true"/>
+      <arg name="use_multithread" value="true"/>
+      <arg name="use_pointcloud_container" value="true"/>
       <arg name="container_name" value="/sensing/lidar/top/pointcloud_preprocessor/pointcloud_container"/>
     </include>
 

common_sensor_launch/launch/hesai_XT32.launch.xml

@@ -11,7 +11,7 @@
   <arg name="data_port" default="2368"/>
   <arg name="scan_phase" default="0.0"/>
   <arg name="cloud_min_angle" default="0"/>
-  <arg name="cloud_max_angle" default="359"/>
+  <arg name="cloud_max_angle" default="360"/>
   <arg name="dual_return_distance_threshold" default="0.1"/>
   <arg name="vehicle_mirror_param_file"/>
   <arg name="use_pointcloud_container" default="false"/>

common_sensor_launch/launch/nebula_node_container.launch.py

@@ -117,8 +117,8 @@ def create_parameter_dict(*args):
                         "max_range",
                         "frame_id",
                         "scan_phase",
-                        "view_direction",
-                        "view_width",
+                        "cloud_min_angle",
+                        "cloud_max_angle",
                         "dual_return_distance_threshold",
                     ),
                 },
@@ -281,17 +281,13 @@ def add_launch_arg(name: str, default_value=None, description=None):
     add_launch_arg("base_frame", "base_link", "base frame id")
     add_launch_arg("min_range", "0.3", "minimum view range for Velodyne sensors")
     add_launch_arg("max_range", "300.0", "maximum view range for Velodyne sensors")
-    add_launch_arg("cloud_min_angle", "0", "minimum view angle for Hesai sensors")
-    add_launch_arg("cloud_max_angle", "359", "maximum view angle for Hesai sensors")
+    add_launch_arg("cloud_min_angle", "0", "minimum view angle setting on device")
+    add_launch_arg("cloud_max_angle", "360", "maximum view angle setting on device")
     add_launch_arg("data_port", "2368", "device data port number")
     add_launch_arg("gnss_port", "2380", "device gnss port number")
     add_launch_arg("rotation_speed", "600.0", "rotational frequency")
     add_launch_arg("dual_return_distance_threshold", "0.1", "dual return distance threshold")
     add_launch_arg("frame_id", "lidar", "frame id")
-    add_launch_arg(
-        "view_direction", "0.0", "lidar view direction: 0~6.28 [rad] for Velodyne sensors"
-    )
-    add_launch_arg("view_width", "6.28", "lidar angle: 0~6.28 [rad] for Velodyne sensors")
     add_launch_arg("input_frame", LaunchConfiguration("base_frame"), "use for cropbox")
     add_launch_arg("output_frame", LaunchConfiguration("base_frame"), "use for cropbox")
     add_launch_arg(

common_sensor_launch/launch/velodyne_VLP16.launch.xml

@@ -12,8 +12,8 @@
   <arg name="host_ip" default="255.255.255.255"/>
   <arg name="data_port" default="2368"/>
   <arg name="scan_phase" default="0.0"/>
-  <arg name="view_direction" default="0.0"/>
-  <arg name="view_width" default="6.28"/>
+  <arg name="cloud_min_angle" default="0"/>
+  <arg name="cloud_max_angle" default="360"/>
   <arg name="vehicle_mirror_param_file"/>
   <arg name="use_pointcloud_container" default="false"/>
   <arg name="container_name" default="velodyne_node_container"/>
@@ -29,8 +29,8 @@
     <arg name="host_ip" value="$(var host_ip)"/>
     <arg name="data_port" value="$(var data_port)"/>
     <arg name="scan_phase" value="$(var scan_phase)"/>
-    <arg name="view_direction" value="$(var view_direction)"/>
-    <arg name="view_width" value="$(var view_width)"/>
+    <arg name="cloud_min_angle" value="$(var cloud_min_angle)"/>
+    <arg name="cloud_max_angle" value="$(var cloud_max_angle)"/>
     <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
     <arg name="use_intra_process" value="true"/>
     <arg name="use_multithread" value="false"/>

common_sensor_launch/launch/velodyne_VLP32C.launch.xml

@@ -1,19 +1,19 @@
 <launch>
 
   <!-- Params -->
-  <arg name="launch_driver" default="true" />
+  <arg name="launch_driver" default="true"/>
 
   <arg name="model" default="VLP32"/>
-  <arg name="max_range" default="200.0" />
-  <arg name="min_range" default="0.4" />
+  <arg name="max_range" default="200.0"/>
+  <arg name="min_range" default="0.4"/>
   <arg name="sensor_frame" default="velodyne"/>
   <arg name="return_mode" default="SingleStrongest"/>
   <arg name="device_ip" default="192.168.1.201"/>
   <arg name="host_ip" default="255.255.255.255"/>
   <arg name="data_port" default="2368"/>
   <arg name="scan_phase" default="0.0"/>
-  <arg name="view_direction" default="0.0"/>
-  <arg name="view_width" default="6.28"/>
+  <arg name="cloud_min_angle" default="0"/>
+  <arg name="cloud_max_angle" default="360"/>
   <arg name="vehicle_mirror_param_file"/>
   <arg name="use_pointcloud_container" default="false"/>
   <arg name="container_name" default="velodyne_node_container"/>
@@ -29,11 +29,11 @@
     <arg name="host_ip" value="$(var host_ip)"/>
     <arg name="data_port" value="$(var data_port)"/>
     <arg name="scan_phase" value="$(var scan_phase)"/>
-    <arg name="view_direction" value="$(var view_direction)"/>
-    <arg name="view_width" value="$(var view_width)"/>
+    <arg name="cloud_min_angle" value="$(var cloud_min_angle)"/>
+    <arg name="cloud_max_angle" value="$(var cloud_max_angle)"/>
     <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
-    <arg name="use_intra_process" value="false" />
-    <arg name="use_multithread" value="false" />
+    <arg name="use_intra_process" value="false"/>
+    <arg name="use_multithread" value="false"/>
     <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
     <arg name="container_name" value="$(var container_name)"/>
   </include>

common_sensor_launch/launch/velodyne_VLS128.launch.xml

@@ -12,8 +12,8 @@
   <arg name="host_ip" default="255.255.255.255"/>
   <arg name="data_port" default="2368"/>
   <arg name="scan_phase" default="0.0"/>
-  <arg name="view_direction" default="0.0"/>
-  <arg name="view_width" default="6.28"/>
+  <arg name="cloud_min_angle" default="0"/>
+  <arg name="cloud_max_angle" default="360"/>
   <arg name="vehicle_mirror_param_file"/>
   <arg name="use_pointcloud_container" default="false"/>
   <arg name="container_name" default="velodyne_node_container"/>
@@ -29,8 +29,8 @@
     <arg name="host_ip" value="$(var host_ip)"/>
     <arg name="data_port" value="$(var data_port)"/>
     <arg name="scan_phase" value="$(var scan_phase)"/>
-    <arg name="view_direction" value="$(var view_direction)"/>
-    <arg name="view_width" value="$(var view_width)"/>
+    <arg name="cloud_min_angle" value="$(var cloud_min_angle)"/>
+    <arg name="cloud_max_angle" value="$(var cloud_max_angle)"/>
     <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
     <arg name="use_intra_process" value="true"/>
     <arg name="use_multithread" value="true"/>