feat: add ptp_switch_type to support latest nebula at 2024/03/15

Signed-off-by: j4tfwm6z <[email protected]>
tier4 · Mar 15, 2024 · 8562ae0 · 8562ae0
1 parent 3d101db
commit 8562ae0
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Showing 4 changed files with 9 additions and 2 deletions.
diff --git a/aip_xx1_launch/launch/sensing.launch.xml b/aip_xx1_launch/launch/sensing.launch.xml
@@ -33,9 +33,9 @@
     </include>
 
     <!-- Radar Driver -->
-    <include file="$(find-pkg-share aip_xx1_launch)/launch/radar.launch.xml">
+    <!-- <include file="$(find-pkg-share aip_xx1_launch)/launch/radar.launch.xml">
       <arg name="launch_driver" value="$(var launch_driver)" />
-    </include>
+    </include> -->
 
     <!-- Vehicle twist -->
     <include file="$(find-pkg-share vehicle_velocity_converter)/launch/vehicle_velocity_converter.launch.xml">

diff --git a/common_sensor_launch/launch/hesai_OT128.launch.xml b/common_sensor_launch/launch/hesai_OT128.launch.xml
@@ -34,6 +34,8 @@
     <arg name="container_name" value="$(var container_name)"/>
     <arg name="ptp_profile" value="802.1as"/>
     <arg name="ptp_transport_type" value="L2"/>
+    <arg name="ptp_switch_type" value="NON_TSN"/>
+    <arg name="ptp_domain" value="1"/>
     <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
@@ -33,6 +33,7 @@
     <arg name="use_intra_process" value="true"/>
     <arg name="use_multithread" value="true"/>
     <arg name="ptp_profile" value="1588v2"/>
+    <arg name="ptp_switch_type" value="TSN"/>
     <arg name="ptp_transport_type" value="UDP"/>
     <arg name="setup_sensor" value="true"/>
     <arg name="retry_hw" value="true"/>

diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py
@@ -276,6 +276,8 @@ def create_parameter_dict(*args):
                     "setup_sensor",
                     "ptp_profile",
                     "ptp_transport_type",
+                    "ptp_switch_type",
+                    "ptp_domain",
                     "retry_hw",
                 ),
             }
@@ -329,6 +331,8 @@ def add_launch_arg(name: str, default_value=None, description=None):
     add_launch_arg("container_name", "nebula_node_container")
     add_launch_arg("ptp_profile", "1588v2")
     add_launch_arg("ptp_transport_type", "L2")
+    add_launch_arg("ptp_switch_type", "TSN")
+    add_launch_arg("ptp_domain", "0")
     add_launch_arg("output_as_sensor_frame", "True", "output final pointcloud in sensor frame")
     add_launch_arg("diag_span", "1000", "")
     add_launch_arg("delay_monitor_ms", "2000", "")