From 27676f056c35de5e521b36dbfae2a23f9c4f9347 Mon Sep 17 00:00:00 2001
From: j4tfwm6z <j4tfwm6z@tier4.jp>
Date: Mon, 11 Mar 2024 14:42:13 +0900
Subject: [PATCH] add nebula argments

---
 common_sensor_launch/launch/hesai_OT128.launch.xml | 1 +
 common_sensor_launch/launch/hesai_XT32.launch.xml  | 4 ++++
 2 files changed, 5 insertions(+)

diff --git a/common_sensor_launch/launch/hesai_OT128.launch.xml b/common_sensor_launch/launch/hesai_OT128.launch.xml
index ccfaced0..63b755a1 100644
--- a/common_sensor_launch/launch/hesai_OT128.launch.xml
+++ b/common_sensor_launch/launch/hesai_OT128.launch.xml
@@ -34,5 +34,6 @@
     <arg name="container_name" value="$(var container_name)"/>
     <arg name="ptp_profile" value="802.1as"/>
     <arg name="ptp_transport_type" value="L2"/>
+    <arg name="setup_sensor" value="false"/>
   </include>
 </launch>
diff --git a/common_sensor_launch/launch/hesai_XT32.launch.xml b/common_sensor_launch/launch/hesai_XT32.launch.xml
index 1a77c267..b446e499 100644
--- a/common_sensor_launch/launch/hesai_XT32.launch.xml
+++ b/common_sensor_launch/launch/hesai_XT32.launch.xml
@@ -32,6 +32,10 @@
     <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
     <arg name="use_intra_process" value="true"/>
     <arg name="use_multithread" value="true"/>
+    <arg name="ptp_profile" value="1588v2"/>
+    <arg name="ptp_transport_type" value="L2"/>
+    <arg name="setup_sensor" value="true"/>
+    <arg name="retry_hw" value="true"/>
     <arg name="container_name" value="$(var container_name)"/>
   </include>
 </launch>