From 38eb0725b5c4012d5e9714c47826e6351b3ec6e7 Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Mon, 18 Mar 2024 23:58:36 +0900
Subject: [PATCH] Revert "fix: remove x2 redundant param"

This reverts commit fa935883bae2f973dbfc51f64f7ed4bc3f896b0e.
---
 aip_x2_launch/launch/lidar.launch.xml                | 8 ++++++++
 aip_x2_launch/launch/pandar_node_container.launch.py | 8 ++------
 2 files changed, 10 insertions(+), 6 deletions(-)

diff --git a/aip_x2_launch/launch/lidar.launch.xml b/aip_x2_launch/launch/lidar.launch.xml
index 9ccf52af..a6bf2c3d 100644
--- a/aip_x2_launch/launch/lidar.launch.xml
+++ b/aip_x2_launch/launch/lidar.launch.xml
@@ -27,6 +27,7 @@
         <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/$(var vehicle_id)/aip_x2/pandar/front_lower.csv" />
@@ -50,6 +51,7 @@
         <arg name="horizontal_ring_id" value="40" />
         <arg name="return_mode" value="First" />
         <arg name="is_channel_order_top2down" value="false"/>
+        <arg name="max_distance_range" value="7.5"/>
         <arg name="horizontal_resolution" value="0.6"/>
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/front_upper.csv" />
@@ -75,6 +77,7 @@
         <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="$(var enable_blockage_diag)"/>
         <arg name="return_mode" value="Dual" />
@@ -99,6 +102,7 @@
         <arg name="vertical_bins" value ="64" />
         <arg name="horizontal_ring_id" value="54" />
         <arg name="is_channel_order_top2down" value="false"/>
+        <arg name="max_distance_range" value="7.5"/>
         <arg name="horizontal_resolution" value="0.6"/>
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="return_mode" value="First" />
@@ -125,6 +129,7 @@
         <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="$(var enable_blockage_diag)"/>
         <arg name="return_mode" value="Dual" />
@@ -149,6 +154,7 @@
         <arg name="vertical_bins" value ="64" />
         <arg name="horizontal_ring_id" value="54" />
         <arg name="is_channel_order_top2down" value="false"/>
+        <arg name="max_distance_range" value="7.5"/>
         <arg name="horizontal_resolution" value="0.6"/>
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="return_mode" value="First" />
@@ -175,6 +181,7 @@
         <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="$(var enable_blockage_diag)"/>
         <arg name="return_mode" value="Strongest" />
@@ -199,6 +206,7 @@
         <arg name="vertical_bins" value ="64" />
         <arg name="horizontal_ring_id" value="40" />
         <arg name="is_channel_order_top2down" value="false"/>
+        <arg name="max_distance_range" value="7.5"/>
         <arg name="horizontal_resolution" value="0.6"/>
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="return_mode" value="First" />
diff --git a/aip_x2_launch/launch/pandar_node_container.launch.py b/aip_x2_launch/launch/pandar_node_container.launch.py
index ee0291d5..c6f1da37 100644
--- a/aip_x2_launch/launch/pandar_node_container.launch.py
+++ b/aip_x2_launch/launch/pandar_node_container.launch.py
@@ -43,10 +43,6 @@ def get_pandar_monitor_info():
     return p
 
 
-def str2vector(string):
-    return [float(x) for x in string.strip("[]").split(",")]
-
-
 def get_vehicle_info(context):
     # TODO(TIER IV): Use Parameter Substitution after we drop Galactic support
     # https://github.com/ros2/launch_ros/blob/master/launch_ros/launch_ros/substitutions/parameter.py
@@ -236,7 +232,6 @@ def create_parameter_dict(*args):
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )
 
-    distance_range = str2vector(context.perform_substitution(LaunchConfiguration("distance_range")))
     blockage_diag_component = ComposableNode(
         package="pointcloud_preprocessor",
         plugin="pointcloud_preprocessor::BlockageDiagComponent",
@@ -251,7 +246,7 @@ def create_parameter_dict(*args):
                 "horizontal_ring_id": LaunchConfiguration("horizontal_ring_id"),
                 "vertical_bins": LaunchConfiguration("vertical_bins"),
                 "is_channel_order_top2down": LaunchConfiguration("is_channel_order_top2down"),
-                "max_distance_range": distance_range[1],
+                "max_distance_range": LaunchConfiguration("max_distance_range"),
                 "horizontal_resolution": LaunchConfiguration("horizontal_resolution"),
             }
         ]
@@ -331,6 +326,7 @@ def add_launch_arg(name: str, default_value=None):
     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"],