feat: add PTP params

Signed-off-by: David Wong <[email protected]>
tier4 · Mar 19, 2024 · abf8174 · abf8174
1 parent 39a8559
commit abf8174
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Showing 3 changed files with 18 additions and 4 deletions.
diff --git a/common_sensor_launch/launch/hesai_OT128.launch.xml b/common_sensor_launch/launch/hesai_OT128.launch.xml
@@ -13,6 +13,8 @@
   <arg name="cloud_min_angle" default="0"/>
   <arg name="cloud_max_angle" default="360"/>
   <arg name="dual_return_distance_threshold" default="0.1"/>
+  <arg name="ptp_switch_type" default="TSN"/>
+  <arg name="ptp_domain" default="0"/>
   <arg name="vehicle_mirror_param_file"/>
   <arg name="container_name" default="hesai_node_container"/>
 
@@ -28,11 +30,13 @@
     <arg name="cloud_min_angle" value="$(var cloud_min_angle)"/>
     <arg name="cloud_max_angle" value="$(var cloud_max_angle)"/>
     <arg name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/>
+    <arg name="ptp_profile" value="automotive"/>
+    <arg name="ptp_transport_type" value="L2"/>
+    <arg name="ptp_switch_type" value="$(var ptp_switch_type)"/>
+    <arg name="ptp_domain" value="$(var ptp_domain)"/>
     <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
     <arg name="use_intra_process" value="true"/>
     <arg name="use_multithread" value="true"/>
     <arg name="container_name" value="$(var container_name)"/>
-    <arg name="ptp_profile" value="802.1as"/>
-    <arg name="ptp_transport_type" value="L2"/>
   </include>
 </launch>
diff --git a/common_sensor_launch/launch/hesai_QT128.launch.xml b/common_sensor_launch/launch/hesai_QT128.launch.xml
@@ -13,6 +13,10 @@
   <arg name="cloud_min_angle" default="0"/>
   <arg name="cloud_max_angle" default="360"/>
   <arg name="dual_return_distance_threshold" default="0.1"/>
+  <arg name="ptp_profile" default="1588v2"/>
+  <arg name="ptp_transport_type" default="UDP"/> 
+  <arg name="ptp_switch_type" default="TSN"/>
+  <arg name="ptp_domain" default="0"/>
   <arg name="vehicle_mirror_param_file"/>
   <arg name="container_name" default="hesai_node_container"/>
 
@@ -28,11 +32,13 @@
     <arg name="cloud_min_angle" value="$(var cloud_min_angle)"/>
     <arg name="cloud_max_angle" value="$(var cloud_max_angle)"/>
     <arg name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/>
+    <arg name="ptp_profile" value="$(var ptp_profile)"/>
+    <arg name="ptp_transport_type" value="$(var ptp_transport_type)"/>
+    <arg name="ptp_switch_type" value="$(var ptp_switch_type)"/>
+    <arg name="ptp_domain" value="$(var ptp_domain)"/>
     <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
     <arg name="use_intra_process" value="true"/>
     <arg name="use_multithread" value="true"/>
     <arg name="container_name" value="$(var container_name)"/>
-    <arg name="ptp_profile" value="1588v2"/>
-    <arg name="ptp_transport_type" value="UDP"/>
   </include>
 </launch>
diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py
@@ -234,6 +234,10 @@ def create_parameter_dict(*args):
                     "packet_mtu_size",
                     "dual_return_distance_threshold",
                     "setup_sensor",
+                    "ptp_profile",
+                    "ptp_tranport_type",
+                    "ptp_switch_type",
+                    "ptp_domain",
                 ),
             }
         ],