feat(aip_xx1_description): update for xx1 gen2 (#210)

* update for xx1 gen2 Signed-off-by: Yukihiro Saito <[email protected]> * set network configs Signed-off-by: Yuki Takagi <[email protected]> * use angle param add OT128 launch Signed-off-by: Yuki Takagi <[email protected]> * set lidar horizontal FOV angle Signed-off-by: Yuki Takagi <[email protected]> * update settings Signed-off-by: Yuki Takagi <[email protected]> * update Signed-off-by: Yuki Takagi <[email protected]> * add OT128 launch Signed-off-by: Yuki Takagi <[email protected]> * add ptp param Signed-off-by: yuki.takagi@car_8 <[email protected]> * complete to write lidar settings Signed-off-by: yuki.takagi@car_8 <[email protected]> * ci(pre-commit): autofix * chore: generalized radar names Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * feat(aip_xx1_description): update side lidar name Signed-off-by: yuki.takagi@car_8 <[email protected]> * feat(aip_xx1_launch): enable imu in adm ecus Signed-off-by: yuki.takagi@car_8 <[email protected]> * change concate lidars * update for xx1 gen2 * rotate top lidar 180 * change imu_corrector param aip_x2 -> aip_xx1 * enable gnss * fix wrong urdf model for OT128 * fix bug Signed-off-by: Yukihiro Saito <[email protected]> * change max_range * feat: added the radars to the aip launcher and description Signed-off-by: j4tfwm6z <[email protected]> * add nebula argments * fix: fixed naming and enabled the radars Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * fix pointcloud preprocess for multi_lidar_ogm * feat: enable radar launch and concatenation for all lidars Signed-off-by: j4tfwm6z <[email protected]> * fix(hesai_xt32): update ptp_transport_type from l2 to udp for xt32 Signed-off-by: j4tfwm6z <[email protected]> * feat: added an option to select the frame of the radar objects Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * feat: add ptp_switch_type to support latest nebula at 2024/03/15 (#222) Signed-off-by: j4tfwm6z <[email protected]> Co-authored-by: j4tfwm6z <[email protected]> * feat: add radar feature Signed-off-by: yoshiri <[email protected]> * fix: revert commenting out of radar.launch.xml Signed-off-by: kminoda <[email protected]> * add new folders Signed-off-by: Yuxuan Liu <[email protected]> * ci(pre-commit): autofix * add folders for description Signed-off-by: Yuxuan Liu <[email protected]> * ci(pre-commit): autofix * fix Spell-check Signed-off-by: Yuxuan Liu <[email protected]> * fix package name Signed-off-by: Yuxuan Liu <[email protected]> * fix: recover radar.xacro to make gen1 operational Signed-off-by: N-Eiki <[email protected]> * ci(pre-commit): autofix * update aip_xx1 for gen2 Signed-off-by: N-Eiki <[email protected]> * fix: packages name is aip_xx1_gen2_* but in these files written as aip_xx1_* Signed-off-by: N-Eiki <[email protected]> --------- Signed-off-by: Yukihiro Saito <[email protected]> Signed-off-by: Yuki Takagi <[email protected]> Signed-off-by: yuki.takagi@car_8 <[email protected]> Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> Signed-off-by: j4tfwm6z <[email protected]> Signed-off-by: yoshiri <[email protected]> Signed-off-by: kminoda <[email protected]> Signed-off-by: Yuxuan Liu <[email protected]> Signed-off-by: N-Eiki <[email protected]> Co-authored-by: Yuki Takagi <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos-Tsunekawa <[email protected]> Co-authored-by: j4tfwm6z <[email protected]> Co-authored-by: kminoda <[email protected]> Co-authored-by: yoshiri <[email protected]> Co-authored-by: kminoda <[email protected]> Co-authored-by: Yuxuan Liu <[email protected]> Co-authored-by: Yuxuan Liu <[email protected]> Co-authored-by: N-Eiki <[email protected]>
tier4 · Oct 7, 2024 · fba1613 · fba1613
1 parent 762520e
commit fba1613
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diff --git a/aip_xx1_gen2_launch/launch/gnss.launch.xml b/aip_xx1_gen2_launch/launch/gnss.launch.xml
@@ -27,6 +27,7 @@
 
     <!-- NavSatFix to MGRS Pose -->
     <include file="$(find-pkg-share autoware_gnss_poser)/launch/gnss_poser.launch.xml">
+    <include file="$(find-pkg-share gnss_poser)/launch/gnss_poser.launch.xml">
       <arg name="input_topic_fix" value="$(var navsatfix_topic_name)" />
       <arg name="input_topic_navpvt" value="$(var navpvt_topic_name)" />
 

diff --git a/aip_xx1_gen2_launch/launch/radar.launch.xml b/aip_xx1_gen2_launch/launch/radar.launch.xml
@@ -56,7 +56,11 @@
           <arg name="new_plug_orientation" value="0"/>
       </include>
 
+<<<<<<< HEAD
       <include file="$(find-pkg-share autoware_radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
+=======
+      <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
+>>>>>>> 0e294a7 (feat(aip_xx1_description): update for xx1 gen2 (#210))
         <arg name="input/radar_objects" value="objects_raw"/>
         <arg name="input/odometry" value="$(var odometry_topic)"/>
         <arg name="output/radar_detected_objects" value="detected_objects"/>
@@ -88,7 +92,11 @@
           <arg name="new_plug_orientation" value="0"/>
       </include>
 
+<<<<<<< HEAD
       <include file="$(find-pkg-share autoware_radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
+=======
+      <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
+>>>>>>> 0e294a7 (feat(aip_xx1_description): update for xx1 gen2 (#210))
         <arg name="input/radar_objects" value="objects_raw"/>
         <arg name="input/odometry" value="$(var odometry_topic)"/>
         <arg name="output/radar_detected_objects" value="detected_objects"/>
@@ -120,7 +128,11 @@
           <arg name="new_plug_orientation" value="0"/>
       </include>
 
+<<<<<<< HEAD
       <include file="$(find-pkg-share autoware_radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
+=======
+      <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
+>>>>>>> 0e294a7 (feat(aip_xx1_description): update for xx1 gen2 (#210))
         <arg name="input/radar_objects" value="objects_raw"/>
         <arg name="input/odometry" value="$(var odometry_topic)"/>
         <arg name="output/radar_detected_objects" value="detected_objects"/>
@@ -152,7 +164,11 @@
           <arg name="new_plug_orientation" value="0"/>
       </include>
 
+<<<<<<< HEAD
       <include file="$(find-pkg-share autoware_radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
+=======
+      <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
+>>>>>>> 0e294a7 (feat(aip_xx1_description): update for xx1 gen2 (#210))
         <arg name="input/radar_objects" value="objects_raw"/>
         <arg name="input/odometry" value="$(var odometry_topic)"/>
         <arg name="output/radar_detected_objects" value="detected_objects"/>
@@ -184,7 +200,11 @@
           <arg name="new_plug_orientation" value="0"/>
       </include>
 
+<<<<<<< HEAD
       <include file="$(find-pkg-share autoware_radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
+=======
+      <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
+>>>>>>> 0e294a7 (feat(aip_xx1_description): update for xx1 gen2 (#210))
         <arg name="input/radar_objects" value="objects_raw"/>
         <arg name="input/odometry" value="$(var odometry_topic)"/>
         <arg name="output/radar_detected_objects" value="detected_objects"/>
@@ -216,7 +236,11 @@
           <arg name="new_plug_orientation" value="0"/>
       </include>
 
+<<<<<<< HEAD
       <include file="$(find-pkg-share autoware_radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
+=======
+      <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
+>>>>>>> 0e294a7 (feat(aip_xx1_description): update for xx1 gen2 (#210))
         <arg name="input/radar_objects" value="objects_raw"/>
         <arg name="input/odometry" value="$(var odometry_topic)"/>
         <arg name="output/radar_detected_objects" value="detected_objects"/>
@@ -227,7 +251,11 @@
 
     <!-- merge radar objects -->
     <let name="merger_param_path" value="$(find-pkg-share aip_xx1_gen2_launch)/config/radar_simple_object_merger.param.yaml"/>
+<<<<<<< HEAD
     <node pkg="autoware_simple_object_merger" exec="simple_object_merger_node" name="simple_object_merger" output="screen">
+=======
+    <node pkg="simple_object_merger" exec="simple_object_merger_node" name="simple_object_merger" output="screen">
+>>>>>>> 0e294a7 (feat(aip_xx1_description): update for xx1 gen2 (#210))
       <remap from="~/output/objects" to="detected_objects"/>
       <param from="$(var merger_param_path)"/>
     </node>

diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py
@@ -159,6 +159,36 @@ def create_parameter_dict(*args):
         )
     )
 
+    nodes.append(
+        ComposableNode(
+            package="nebula_ros",
+            plugin=sensor_make + "HwMonitorRosWrapper",
+            name=sensor_make.lower() + "_hw_monitor_ros_wrapper_node",
+            parameters=[
+                {
+                    "sensor_model": sensor_model,
+                    **create_parameter_dict(
+                        "return_mode",
+                        "frame_id",
+                        "scan_phase",
+                        "sensor_ip",
+                        "host_ip",
+                        "data_port",
+                        "gnss_port",
+                        "packet_mtu_size",
+                        "rotation_speed",
+                        "cloud_min_angle",
+                        "cloud_max_angle",
+                        "diag_span",
+                        "dual_return_distance_threshold",
+                        "delay_monitor_ms",
+                    ),
+                },
+            ],
+            extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
+        )
+    )
+
     cropbox_parameters = create_parameter_dict("input_frame", "output_frame")
     cropbox_parameters["negative"] = True