fix: rename aip_x2 to aip_x2_gen2

aip_x2_gen2_launch/launch/gnss.launch.xml

@@ -7,7 +7,7 @@
 
     <!-- Septentrio Mosaic Driver -->
     <node pkg="septentrio_gnss_driver" name="septentrio" exec="septentrio_gnss_driver_node" if="$(var launch_driver)">
-      <param from="$(find-pkg-share aip_x2_launch)/config/mosaic_x5_rover.param.yaml"/>
+      <param from="$(find-pkg-share aip_x2_gen2_launch)/config/mosaic_x5_rover.param.yaml"/>
       <remap from="navsatfix" to="~/nav_sat_fix"/>
       <remap from="poscovgeodetic" to="~/poscovgeodetic"/>
       <remap from="pvtgeodetic" to="~/pvtgeodetic"/>

aip_x2_gen2_launch/launch/hesai_OT128.launch.xml

@@ -26,12 +26,12 @@
   <arg name="is_channel_order_top2down" default="true"/>
   <arg name="horizontal_resolution" default="0.4"/>
   <arg name="enable_blockage_diag" default="$(var enable_blockage_diag)"/>
-  <arg name="calibration" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/front_lower.csv" />
+  <arg name="calibration" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/front_lower.csv" />
   <arg name="dual_return_filter_param_file" default="$(var dual_return_filter_param_file)" />
   <arg name="vehicle_mirror_param_file" default="$(var vehicle_mirror_param_file)" />
-  <arg name="blockage_diagnostics_param_file" default="$(find-pkg-share aip_x2_launch)/config/blockage_diagnostics_param_file.yaml" />
+  <arg name="blockage_diagnostics_param_file" default="$(find-pkg-share aip_x2_gen2_launch)/config/blockage_diagnostics_param_file.yaml" />
 
-  <include file="$(find-pkg-share aip_x2_launch)/launch/nebula_node_container.launch.py">
+  <include file="$(find-pkg-share aip_x2_gen2_launch)/launch/nebula_node_container.launch.py">
     <arg name="launch_driver" value="$(var launch_driver)"/>
     <arg name="sensor_model" value="$(var model)"/>
     <arg name="return_mode" value="$(var return_mode)"/>

aip_x2_gen2_launch/launch/hesai_QT128.launch.xml

@@ -27,12 +27,12 @@
   <arg name="is_channel_order_top2down" default="true"/>
   <arg name="horizontal_resolution" default="0.4"/>
   <arg name="enable_blockage_diag" default="$(var enable_blockage_diag)"/>
-  <arg name="calibration" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/front_lower.csv" />
+  <arg name="calibration" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/front_lower.csv" />
   <arg name="dual_return_filter_param_file" default="$(var dual_return_filter_param_file)" />
   <arg name="vehicle_mirror_param_file" default="$(var vehicle_mirror_param_file)" />
-  <arg name="blockage_diagnostics_param_file" default="$(find-pkg-share aip_x2_launch)/config/blockage_diagnostics_param_file.yaml" />
+  <arg name="blockage_diagnostics_param_file" default="$(find-pkg-share aip_x2_gen2_launch)/config/blockage_diagnostics_param_file.yaml" />
 
-  <include file="$(find-pkg-share aip_x2_launch)/launch/nebula_node_container.launch.py">
+  <include file="$(find-pkg-share aip_x2_gen2_launch)/launch/nebula_node_container.launch.py">
     <arg name="launch_driver" value="$(var launch_driver)"/>
     <arg name="sensor_model" value="$(var model)"/>
     <arg name="return_mode" value="$(var return_mode)"/>

aip_x2_gen2_launch/launch/imu.launch.xml

@@ -4,7 +4,7 @@
     <push-ros-namespace namespace="imu"/>
 
     <arg name="launch_driver" default="true" />
     <arg name="interface" default="fintekcan3"/>
     <arg name="receiver_interval_sec" default="0.01"/>
     <arg name ="vehicle_id" default="$(env VEHICLE_ID default)" />
 
@@ -22,7 +22,7 @@
     </group>
 
     <arg name="imu_raw_name" default="tamagawa/imu_raw"/>
-    <arg name="imu_corrector_param_file" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/imu_corrector.param.yaml"/>
+    <arg name="imu_corrector_param_file" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/imu_corrector.param.yaml"/>
     <include file="$(find-pkg-share imu_corrector)/launch/imu_corrector.launch.xml">
       <arg name="input_topic" value="$(var imu_raw_name)"/>
       <arg name="output_topic" value="imu_data"/>

aip_x2_gen2_launch/launch/lidar.launch.xml

@@ -10,13 +10,13 @@
   <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="$(find-pkg-share aip_x2_launch)/config/dual_return_filter.param.yaml"/>
+  <arg name="dual_return_filter_param_file" default="$(find-pkg-share aip_x2_gen2_launch)/config/dual_return_filter.param.yaml"/>
   <arg name="enable_blockage_diag" default="false"/>
 
   <group>
     <push-ros-namespace namespace="lidar" />
 
-    <include file="$(find-pkg-share aip_x2_launch)/launch/pointcloud_preprocessor.launch.py">
+    <include file="$(find-pkg-share aip_x2_gen2_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" />
@@ -27,7 +27,7 @@
     <!-- LiDARs connected to Main ECU -->
     <group>
       <push-ros-namespace namespace="rear_upper" />
-      <include file="$(find-pkg-share aip_x2_launch)/launch/hesai_OT128.launch.xml">
+      <include file="$(find-pkg-share aip_x2_gen2_launch)/launch/hesai_OT128.launch.xml">
         <arg name="setup_sensor" value="$(var setup_sensor)"/>
         <arg name="sensor_frame" value="rear_upper/lidar"/>
         <arg name="sensor_ip" value="192.168.1.202"/>
@@ -50,15 +50,15 @@
         <arg name="is_channel_order_top2down" value="true"/>
         <arg name="horizontal_resolution" value="0.4"/>
         <arg name="enable_blockage_diag" value="$(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="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/front_lower.csv" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
       </include>
     </group>
 
     <group>
       <push-ros-namespace namespace="left_upper" />
-      <include file="$(find-pkg-share aip_x2_launch)/launch/hesai_OT128.launch.xml">
+      <include file="$(find-pkg-share aip_x2_gen2_launch)/launch/hesai_OT128.launch.xml">
         <arg name="setup_sensor" value="$(var setup_sensor)"/>
         <arg name="sensor_frame" value="left_upper/lidar"/>
         <arg name="sensor_ip" value="192.168.1.203"/>
@@ -81,15 +81,15 @@
         <arg name="is_channel_order_top2down" value="true"/>
         <arg name="horizontal_resolution" value="0.4"/>
         <arg name="enable_blockage_diag" value="$(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="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/front_lower.csv" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
       </include>
     </group>
 
     <group>
       <push-ros-namespace namespace="rear_lower" />
-      <include file="$(find-pkg-share aip_x2_launch)/launch/hesai_QT128.launch.xml">
+      <include file="$(find-pkg-share aip_x2_gen2_launch)/launch/hesai_QT128.launch.xml">
         <arg name="setup_sensor" value="$(var setup_sensor)"/>
         <arg name="sensor_frame" value="rear_lower/lidar"/>
         <arg name="sensor_ip" value="192.168.1.212"/>
@@ -114,15 +114,15 @@
         <arg name="is_channel_order_top2down" value="true"/>
         <arg name="horizontal_resolution" value="0.4"/>
         <arg name="enable_blockage_diag" value="$(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="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/front_lower.csv" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
       </include>
     </group>
 
     <group>
       <push-ros-namespace namespace="left_lower" />
-      <include file="$(find-pkg-share aip_x2_launch)/launch/hesai_QT128.launch.xml">
+      <include file="$(find-pkg-share aip_x2_gen2_launch)/launch/hesai_QT128.launch.xml">
         <arg name="setup_sensor" value="$(var setup_sensor)"/>
         <arg name="sensor_frame" value="left_lower/lidar"/>
         <arg name="sensor_ip" value="192.168.1.213"/>
@@ -147,7 +147,7 @@
         <arg name="is_channel_order_top2down" value="true"/>
         <arg name="horizontal_resolution" value="0.4"/>
         <arg name="enable_blockage_diag" value="$(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="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/front_lower.csv" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
       </include>
@@ -156,7 +156,7 @@
     <!-- LiDARs connected to Sub ECU -->
     <group>
       <push-ros-namespace namespace="front_upper" />
-      <include file="$(find-pkg-share aip_x2_launch)/launch/hesai_OT128.launch.xml">
+      <include file="$(find-pkg-share aip_x2_gen2_launch)/launch/hesai_OT128.launch.xml">
         <arg name="setup_sensor" value="$(var setup_sensor)"/>
         <arg name="sensor_frame" value="front_upper/lidar"/>
         <arg name="sensor_ip" value="192.168.1.204"/>
@@ -179,15 +179,15 @@
         <arg name="is_channel_order_top2down" value="true"/>
         <arg name="horizontal_resolution" value="0.4"/>
         <arg name="enable_blockage_diag" value="$(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="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/front_lower.csv" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
       </include>
     </group>
 
     <group>
       <push-ros-namespace namespace="right_upper" />
-      <include file="$(find-pkg-share aip_x2_launch)/launch/hesai_OT128.launch.xml">
+      <include file="$(find-pkg-share aip_x2_gen2_launch)/launch/hesai_OT128.launch.xml">
         <arg name="setup_sensor" value="$(var setup_sensor)"/>
         <arg name="sensor_frame" value="right_upper/lidar"/>
         <arg name="sensor_ip" value="192.168.1.205"/>
@@ -210,15 +210,15 @@
         <arg name="is_channel_order_top2down" value="true"/>
         <arg name="horizontal_resolution" value="0.4"/>
         <arg name="enable_blockage_diag" value="$(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="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/front_lower.csv" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
       </include>
     </group>
 
     <group>
       <push-ros-namespace namespace="front_lower" />
-      <include file="$(find-pkg-share aip_x2_launch)/launch/hesai_QT128.launch.xml">
+      <include file="$(find-pkg-share aip_x2_gen2_launch)/launch/hesai_QT128.launch.xml">
         <arg name="setup_sensor" value="$(var setup_sensor)"/>
         <arg name="sensor_frame" value="front_lower/lidar"/>
         <arg name="sensor_ip" value="192.168.1.214"/>
@@ -243,15 +243,15 @@
         <arg name="is_channel_order_top2down" value="true"/>
         <arg name="horizontal_resolution" value="0.4"/>
         <arg name="enable_blockage_diag" value="$(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="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/front_lower.csv" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
       </include>
     </group>
 
     <group>
       <push-ros-namespace namespace="right_lower" />
-      <include file="$(find-pkg-share aip_x2_launch)/launch/hesai_QT128.launch.xml">
+      <include file="$(find-pkg-share aip_x2_gen2_launch)/launch/hesai_QT128.launch.xml">
         <arg name="setup_sensor" value="$(var setup_sensor)"/>
         <arg name="sensor_frame" value="right_lower/lidar"/>
         <arg name="sensor_ip" value="192.168.1.215"/>
@@ -276,7 +276,7 @@
         <arg name="is_channel_order_top2down" value="true"/>
         <arg name="horizontal_resolution" value="0.4"/>
         <arg name="enable_blockage_diag" value="$(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="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/front_lower.csv" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
       </include>

aip_x2_gen2_launch/launch/pandar_node_container.launch.py

@@ -333,7 +333,7 @@ def add_launch_arg(name: str, default_value=None):
     add_launch_arg("horizontal_resolution", "0.4")
     add_launch_arg(
         "blockage_diagnostics_param_file",
-        [FindPackageShare("aip_x2_launch"), "/config/blockage_diagnostics_param_file.yaml"],
+        [FindPackageShare("aip_x2_gen2_launch"), "/config/blockage_diagnostics_param_file.yaml"],
     )
     add_launch_arg("vehicle_mirror_param_file")
     add_launch_arg("use_multithread", "true")

aip_x2_gen2_launch/launch/radar.launch.xml

@@ -204,7 +204,7 @@
     </group>
 
     <!-- merge radar objects -->
-    <let name="merger_param_path" value="$(find-pkg-share aip_x2_launch)/config/simple_object_merger.param.yaml"/>
+    <let name="merger_param_path" value="$(find-pkg-share aip_x2_gen2_launch)/config/simple_object_merger.param.yaml"/>
     <node pkg="simple_object_merger" exec="simple_object_merger_node" name="simple_object_merger" output="screen">
       <remap from="~/output/objects" to="detected_objects"/>
       <param from="$(var merger_param_path)"/>

aip_x2_gen2_launch/launch/sensing.launch.xml

@@ -8,32 +8,32 @@
   <group>
 
     <!-- LiDAR Driver -->
-    <include file="$(find-pkg-share aip_x2_launch)/launch/lidar.launch.xml">
+    <include file="$(find-pkg-share aip_x2_gen2_launch)/launch/lidar.launch.xml">
       <arg name="launch_driver" value="$(var launch_driver)" />
       <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </include>
 
     <!-- IMU Driver -->
-    <include file="$(find-pkg-share aip_x2_launch)/launch/imu.launch.xml">
+    <include file="$(find-pkg-share aip_x2_gen2_launch)/launch/imu.launch.xml">
       <arg name="launch_driver" value="$(var launch_driver)" />
     </include>
 
     <!-- GNSS Driver -->
-    <!-- <include file="$(find-pkg-share aip_x2_launch)/launch/gnss.launch.xml">
+    <!-- <include file="$(find-pkg-share aip_x2_gen2_launch)/launch/gnss.launch.xml">
       <arg name="launch_driver" value="$(var launch_driver)" />
     </include> -->
 
     <!-- Radar Driver -->
-    <include file="$(find-pkg-share aip_x2_launch)/launch/radar.launch.xml">
+    <include file="$(find-pkg-share aip_x2_gen2_launch)/launch/radar.launch.xml">
       <arg name="launch_driver" value="$(var launch_driver)" />
     </include>
 
     <!-- Vehicle twist -->
     <include file="$(find-pkg-share vehicle_velocity_converter)/launch/vehicle_velocity_converter.launch.xml">
       <arg name="input_vehicle_velocity_topic" value="/vehicle/status/velocity_status"/>
       <arg name="output_twist_with_covariance" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
-      <arg name="config_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/vehicle_velocity_converter.param.yaml" />
+      <arg name="config_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/vehicle_velocity_converter.param.yaml" />
     </include>
   </group>