From a20412bc724ac1afa960a8ce3a34f60e37f290db Mon Sep 17 00:00:00 2001
From: Shinnosuke Hirakawa <8327162+0x126@users.noreply.github.com>
Date: Mon, 11 Mar 2024 15:29:13 +0900
Subject: [PATCH] chore(aip_x2): tune blockage diag (#216)

* chore(aip_x2): tune blockage_diag

* chore: tune

* fix: rear_lower
---
 aip_x2_launch/launch/lidar.launch.xml         | 20 +++++++++++++------
 .../launch/pandar_node_container.launch.py    |  3 ++-
 2 files changed, 16 insertions(+), 7 deletions(-)

diff --git a/aip_x2_launch/launch/lidar.launch.xml b/aip_x2_launch/launch/lidar.launch.xml
index 6f478053..044afad9 100644
--- a/aip_x2_launch/launch/lidar.launch.xml
+++ b/aip_x2_launch/launch/lidar.launch.xml
@@ -21,6 +21,7 @@
         <arg name="scan_phase" value="270.0" />
         <arg name="angle_range" value="[90.0, 270.0]"/>
         <arg name="distance_range" value="[0.5, 200.0]"/>
+        <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" />
@@ -42,7 +43,8 @@
         <arg name="gps_port" value="10131" />
         <arg name="scan_phase" value="270.0" />
         <arg name="angle_range" value="[90.0, 270.0]"/>
-        <arg name="distance_range" value="[0.1, 7.5]"/>
+        <arg name="distance_range" value="[0.1, 20.0]"/>
+        <arg name="blockage_range" value="[90.0, 270.0]"/>
         <arg name="vertical_bins" value ="64" />
         <arg name="horizontal_ring_id" value="40" />
         <arg name="return_mode" value="First" />
@@ -64,6 +66,7 @@
         <arg name="scan_phase" value="305.0" />
         <arg name="angle_range" value="[90.0, 305.0]"/>
         <arg name="distance_range" value="[0.5, 200.0]"/>
+        <arg name="blockage_range" value="[90.0, 305.0]"/>
         <arg name="vertical_bins" value ="40" />
         <arg name="horizontal_ring_id" value="12" />
         <arg name="min_azimuth_deg" value="225.0"/>
@@ -86,9 +89,10 @@
         <arg name="gps_port" value="10132" />
         <arg name="scan_phase" value="270.0" />
         <arg name="angle_range" value="[90.0, 270.0]"/>
-        <arg name="distance_range" value="[0.1, 7.5]"/>
+        <arg name="distance_range" value="[0.1, 20.0]"/>
+        <arg name="blockage_range" value="[120.0, 240.0]"/>
         <arg name="vertical_bins" value ="64" />
-        <arg name="horizontal_ring_id" value="54" />
+        <arg name="horizontal_ring_id" value="8" />
         <arg name="return_mode" value="First" />
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/left_lower.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />
@@ -108,6 +112,7 @@
         <arg name="scan_phase" value="270.0" />
         <arg name="angle_range" value="[55.0, 270.0]"/>
         <arg name="distance_range" value="[0.5, 200.0]"/>
+        <arg name="blockage_range" value="[55.0, 270.0]"/>
         <arg name="vertical_bins" value ="40" />
         <arg name="horizontal_ring_id" value="12" />
         <arg name="min_azimuth_deg" value="45.0"/>
@@ -130,9 +135,10 @@
         <arg name="gps_port" value="10133" />
         <arg name="scan_phase" value="270.0" />
         <arg name="angle_range" value="[90.0, 270.0]"/>
-        <arg name="distance_range" value="[0.1, 7.5]"/>
+        <arg name="distance_range" value="[0.1, 20.0]"/>
+        <arg name="blockage_range" value="[150.0, 240.0]"/>
         <arg name="vertical_bins" value ="64" />
-        <arg name="horizontal_ring_id" value="54" />
+        <arg name="horizontal_ring_id" value="8" />
         <arg name="return_mode" value="First" />
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/right_lower.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />
@@ -152,6 +158,7 @@
         <arg name="scan_phase" value="180.0" />
         <arg name="angle_range" value="[90.0, 270.0]"/>
         <arg name="distance_range" value="[0.5, 200.0]"/>
+        <arg name="blockage_range" value="[90.0, 270.0]"/>
         <arg name="vertical_bins" value ="40" />
         <arg name="horizontal_ring_id" value="12" />
         <arg name="min_azimuth_deg" value="135.0"/>
@@ -174,7 +181,8 @@
         <arg name="gps_port" value="10134" />
         <arg name="scan_phase" value="180.0" />
         <arg name="angle_range" value="[90.0, 270.0]"/>
-        <arg name="distance_range" value="[0.1, 7.5]"/>
+        <arg name="distance_range" value="[0.1, 20.0]"/>
+        <arg name="blockage_range" value="[90.0, 270.0]"/>
         <arg name="vertical_bins" value ="64" />
         <arg name="horizontal_ring_id" value="40" />
         <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 cfb39cc4..43db6570 100644
--- a/aip_x2_launch/launch/pandar_node_container.launch.py
+++ b/aip_x2_launch/launch/pandar_node_container.launch.py
@@ -242,7 +242,7 @@ def create_parameter_dict(*args):
         ],
         parameters=[
             {
-                "angle_range": LaunchConfiguration("angle_range"),
+                "angle_range": LaunchConfiguration("blockage_range"),
                 "horizontal_ring_id": LaunchConfiguration("horizontal_ring_id"),
                 "vertical_bins": LaunchConfiguration("vertical_bins"),
                 "model": LaunchConfiguration("model"),
@@ -332,6 +332,7 @@ def add_launch_arg(name: str, default_value=None):
     add_launch_arg("use_intra_process", "true")
     add_launch_arg("vertical_bins", "40")
     add_launch_arg("horizontal_ring_id", "12")
+    add_launch_arg("blockage_range", "[270.0, 90.0]")
 
     add_launch_arg("min_azimuth_deg", "135.0")
     add_launch_arg("max_azimuth_deg", "225.0")