fix(aip_launcher_x2): use only front radar for radar faraway detection

Signed-off-by: scepter914 <[email protected]>
tier4 · Oct 5, 2023 · 4acbdda · 4acbdda
1 parent 696105b
commit 4acbdda
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/aip_x2_launch/launch/radar.launch.xml b/aip_x2_launch/launch/radar.launch.xml
@@ -64,7 +64,9 @@
       <arg name="update_rate_hz" value="20.0"/>
       <arg name="new_frame_id" value="base_link"/>
       <arg name="timeout_threshold" value="1.0"/>
-      <arg name="input_topics" value="[/sensing/radar/front_center/detected_objects, /sensing/radar/front_left/detected_objects, /sensing/radar/rear_left/detected_objects, /sensing/radar/rear_center/detected_objects, /sensing/radar/rear_right/detected_objects, /sensing/radar/front_right/detected_objects]"/>
+      <!-- To reduce calculation cost, use only front radar for radar detection -->
+      <!--<arg name="input_topics" value="[/sensing/radar/front_center/detected_objects, /sensing/radar/front_left/detected_objects, /sensing/radar/rear_left/detected_objects, /sensing/radar/rear_center/detected_objects, /sensing/radar/rear_right/detected_objects, /sensing/radar/front_right/detected_objects]"/>-->
+      <arg name="input_topics" value="[/sensing/radar/front_center/detected_objects, /sensing/radar/front_left/detected_objects, /sensing/radar/front_right/detected_objects]"/>
     </include>
 
   </group>