From 55e850d71565947121602ee011b595e583d4ead3 Mon Sep 17 00:00:00 2001
From: Shinnosuke Hirakawa <shinnosuke.hirakawa@tier4.jp>
Date: Thu, 14 Mar 2024 23:22:25 +0900
Subject: [PATCH] chore: tune dual_return_filter

---
 aip_x2_launch/config/dual_return_filter.param.yaml | 4 ++--
 aip_x2_launch/launch/lidar.launch.xml              | 6 +++---
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/aip_x2_launch/config/dual_return_filter.param.yaml b/aip_x2_launch/config/dual_return_filter.param.yaml
index 5b1f1adb..dd68e5ec 100644
--- a/aip_x2_launch/config/dual_return_filter.param.yaml
+++ b/aip_x2_launch/config/dual_return_filter.param.yaml
@@ -2,8 +2,8 @@
   ros__parameters:
     roi_mode: "Fixed_azimuth_ROI" # description="options: `No_ROI`, `Fixed_xyz_ROI` or `Fixed_azimuth_ROI`"/>
     weak_first_local_noise_threshold: 2 # description="for No_ROI roi_mode, recommended value is 10" />
-    visibility_error_threshold: 0.5
-    visibility_warn_threshold: 0.9
+    visibility_error_threshold: 0.95
+    visibility_warn_threshold: 0.97
     max_distance: 5.0
     x_max: 18.0
     x_min: -12.0
diff --git a/aip_x2_launch/launch/lidar.launch.xml b/aip_x2_launch/launch/lidar.launch.xml
index 044afad9..523add57 100644
--- a/aip_x2_launch/launch/lidar.launch.xml
+++ b/aip_x2_launch/launch/lidar.launch.xml
@@ -24,7 +24,7 @@
         <arg name="blockage_range" value="[90.0, 270.0]"/>
         <arg name="vertical_bins" value ="40" />
         <arg name="horizontal_ring_id" value="12" />
-        <arg name="return_mode" value="Strongest" />
+        <arg name="return_mode" value="Dual" />
         <arg name="min_azimuth_deg" value="135.0"/>
         <arg name="max_azimuth_deg" value="225.0"/>
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/front_lower.csv" />
@@ -71,7 +71,7 @@
         <arg name="horizontal_ring_id" value="12" />
         <arg name="min_azimuth_deg" value="225.0"/>
         <arg name="max_azimuth_deg" value="315.0"/>
-        <arg name="return_mode" value="Dual" />
+        <arg name="return_mode" value="Strongest" />
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/left_upper.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
@@ -117,7 +117,7 @@
         <arg name="horizontal_ring_id" value="12" />
         <arg name="min_azimuth_deg" value="45.0"/>
         <arg name="max_azimuth_deg" value="135.0"/>
-        <arg name="return_mode" value="Dual" />
+        <arg name="return_mode" value="Strongest" />
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/right_upper.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />