From d83e8436e75cd055328e859ac2073efaa79cc126 Mon Sep 17 00:00:00 2001
From: kotaro-hihara <kotaro.hihara@tier4.jp>
Date: Fri, 13 Dec 2024 14:43:11 +0900
Subject: [PATCH] fix lidar distance range

---
 aip_x2_gen2_launch/launch/hesai_OT128.launch.xml | 6 +++++-
 aip_x2_gen2_launch/launch/hesai_QT128.launch.xml | 7 +++++--
 2 files changed, 10 insertions(+), 3 deletions(-)

diff --git a/aip_x2_gen2_launch/launch/hesai_OT128.launch.xml b/aip_x2_gen2_launch/launch/hesai_OT128.launch.xml
index 9d82aff6..0f65b180 100644
--- a/aip_x2_gen2_launch/launch/hesai_OT128.launch.xml
+++ b/aip_x2_gen2_launch/launch/hesai_OT128.launch.xml
@@ -20,7 +20,9 @@
   <arg name="container_name" default="hesai_node_container"/>
   <arg name="setup_sensor" default="true"/>
 
-  <arg name="distance_range" default="[0.5, 200.0]"/>
+  <arg name="min_range" default="0.05"/>
+  <arg name="max_range" default="50"/>
+  <arg name="distance_range" default="[0.05, 50.0]"/>
   <arg name="blockage_range" default="[90.0, 270.0]"/>
   <arg name="vertical_bins" default ="128" />
   <arg name="horizontal_ring_id" default="12" />
@@ -57,6 +59,8 @@
     <arg name="container_name" value="$(var container_name)"/>
     <arg name="setup_sensor" value="$(var setup_sensor)"/>
 
+    <arg name="min_range" value="$(var min_range)"/>
+    <arg name="max_range" value="$(var max_range)"/>
     <arg name="distance_range" value="$(var distance_range)"/>
     <arg name="blockage_range" value="$(var blockage_range)"/>
     <arg name="vertical_bins" value ="$(var vertical_bins)"/>
diff --git a/aip_x2_gen2_launch/launch/hesai_QT128.launch.xml b/aip_x2_gen2_launch/launch/hesai_QT128.launch.xml
index 07bdfbe7..b987cd57 100644
--- a/aip_x2_gen2_launch/launch/hesai_QT128.launch.xml
+++ b/aip_x2_gen2_launch/launch/hesai_QT128.launch.xml
@@ -21,7 +21,9 @@
   <arg name="vehicle_mirror_param_file"/>
   <arg name="container_name" default="hesai_node_container"/>
 
-  <arg name="distance_range" default="[0.5, 200.0]"/>
+  <arg name="min_range" default="0.3"/>
+  <arg name="max_range" default="230"/>
+  <arg name="distance_range" default="[0.3, 230.0]"/>
   <arg name="blockage_range" default="[90.0, 270.0]"/>
   <arg name="vertical_bins" default ="128" />
   <arg name="horizontal_ring_id" default="12" />
@@ -56,7 +58,8 @@
     <arg name="use_intra_process" value="true"/>
     <arg name="use_multithread" value="true"/>
     <arg name="container_name" value="$(var container_name)"/>
-
+    <arg name="min_range" value="$(var min_range)"/>
+    <arg name="max_range" value="$(var max_range)"/>
     <arg name="distance_range" value="$(var distance_range)"/>
     <arg name="blockage_range" value="$(var blockage_range)"/>
     <arg name="vertical_bins" value ="$(var vertical_bins)"/>