feat: use nebula driver for aip_x1_1

Signed-off-by: 1222-takeshi <[email protected]>
tier4 · Apr 18, 2024 · 91c0b6e · 91c0b6e
1 parent 2e9a7e0
commit 91c0b6e
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Showing 4 changed files with 24 additions and 19 deletions.
diff --git a/aip_x1_1_launch/launch/lidar.launch.xml b/aip_x1_1_launch/launch/lidar.launch.xml
@@ -1,6 +1,7 @@
 <launch>
 
   <arg name="launch_driver" default="true" />
+  <arg name="host_ip" default="127.0.0.1"/>
   <arg name="use_concat_filter" default="true" />
   <arg name="use_radius_search" default="false" />
   <arg name="vehicle_id" default="$(env VEHICLE_ID default)" />
@@ -12,10 +13,11 @@
 
     <group>
       <push-ros-namespace namespace="top"/>
-      <include file="$(find-pkg-share aip_x1_1_launch)/launch/velodyne_VLP16.launch.xml">
+      <include file="$(find-pkg-share common_sensor_launch)/launch/velodyne_VLP16.launch.xml">
         <arg name="sensor_frame" value="velodyne_top" />
         <arg name="device_ip" value="192.168.1.20"/>
-        <arg name="port" value="2368"/>
+        <arg name="host_ip" value="$(var host_ip)"/>
+        <arg name="data_port" value="2368"/>
         <arg name="scan_phase" value="180.0" />
         <arg name="launch_driver" value="$(var launch_driver)" />
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
@@ -25,18 +27,20 @@
 
     <group>
       <push-ros-namespace namespace="front_center" />
-      <include file="$(find-pkg-share aip_x1_1_launch)/launch/pandar_node_container.launch.py">
-        <arg name="model" value="PandarXT-32" />
-        <arg name="frame_id" value="pandar_xt32_front_center" />
-        <arg name="device_ip" value="192.168.3.201" />
-        <arg name="lidar_port" value="2321" />
-        <arg name="gps_port" value="10121" />
+      <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launch.xml">
+        <arg name="sensor_frame" value="pandar_xt32_front_center" />
+        <arg name="sensor_ip" value="192.168.3.201" />
+        <arg name="data_port" value="2321" />
+        <arg name="gnss_port" value="10121" />
         <arg name="scan_phase" value="0.0" />
-        <arg name="angle_range" value="[0.0, 360.0]"/>
-        <arg name="distance_range" value="[0.05, 200.0]"/>
+        <arg name="cloud_min_angle" value="0"/>
+        <arg name="cloud_max_angle" value="360"/>
+        <arg name="min_range" value="0.05"/>
+        <arg name="max_range" value="200.0"/>
         <arg name="return_mode" value="Strongest" />
-        <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x1_1/xt32.csv" />
+        <arg name="config_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x1_1/xt32.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />
+        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
       </include>
     </group>
 

diff --git a/aip_x1_1_launch/launch/velodyne_node_container.launch.py b/aip_x1_1_launch/launch/velodyne_node_container.launch.py
@@ -31,10 +31,10 @@ def get_vehicle_info(context):
     p = {}
     p["vehicle_length"] = gp["front_overhang"] + gp["wheel_base"] + gp["rear_overhang"]
     p["vehicle_width"] = gp["wheel_tread"] + gp["left_overhang"] + gp["right_overhang"]
-    p["min_longitudinal_offset"] = -gp["rear_overhang"]
+    p["min_longitudinal_offset"] = -gp["rear_overhang"] - 5.0
     p["max_longitudinal_offset"] = gp["front_overhang"] + gp["wheel_base"]
-    p["min_lateral_offset"] = -(gp["wheel_tread"] / 2.0 + gp["right_overhang"])
-    p["max_lateral_offset"] = gp["wheel_tread"] / 2.0 + gp["left_overhang"]
+    p["min_lateral_offset"] = -(gp["wheel_tread"] / 2.0 + gp["right_overhang"]) - 1.0
+    p["max_lateral_offset"] = gp["wheel_tread"] / 2.0 + gp["left_overhang"] + 1.0
     p["min_height_offset"] = 0.0
     p["max_height_offset"] = gp["vehicle_height"]
     return p

diff --git a/aip_x1_1_launch/package.xml b/aip_x1_1_launch/package.xml
@@ -10,22 +10,23 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
+  <exec_depend>common_sensor_launch</exec_depend>
   <exec_depend>compare_map_segmentation</exec_depend>
   <exec_depend>elevation_map_loader</exec_depend>
   <exec_depend>ground_segmentation</exec_depend>
   <exec_depend>imu_corrector</exec_depend>
   <exec_depend>individual_params</exec_depend>
   <exec_depend>occupancy_grid_map_outlier_filter</exec_depend>
-  <exec_depend>pandar_driver</exec_depend>
-  <exec_depend>pandar_pointcloud</exec_depend>
+  <!-- <exec_depend>pandar_driver</exec_depend>
+  <exec_depend>pandar_pointcloud</exec_depend> -->
   <exec_depend>pointcloud_preprocessor</exec_depend>
   <exec_depend>rclcpp_components</exec_depend>
   <exec_depend>ros2_socketcan</exec_depend>
   <exec_depend>tamagawa_imu_driver</exec_depend>
   <exec_depend>topic_state_monitor</exec_depend>
-  <exec_depend>velodyne_driver</exec_depend>
+  <!-- <exec_depend>velodyne_driver</exec_depend>
   <exec_depend>velodyne_monitor</exec_depend>
-  <exec_depend>velodyne_pointcloud</exec_depend>
+  <exec_depend>velodyne_pointcloud</exec_depend> -->
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>

diff --git a/common_sensor_launch/package.xml b/common_sensor_launch/package.xml
@@ -14,7 +14,7 @@
   <exec_depend>radar_tracks_msgs_converter</exec_depend>
   <exec_depend>radar_tracks_noise_filter</exec_depend>
   <exec_depend>velodyne_monitor</exec_depend>
-  <!-- <exec_depend>nebula_sensor_driver</exec_depend> -->
+  <exec_depend>nebula_sensor_driver</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>