From ca44474a3b2ea2f856de25b9774dd97b769971d3 Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Thu, 21 Dec 2023 02:03:53 +0900
Subject: [PATCH 01/11] fix: enable blocakge diag for xx1

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
 .../sensor_kit.param.yaml                     |  9 ++++
 aip_xx1_launch/launch/lidar.launch.xml        | 25 +++++++++
 common_sensor_launch/CMakeLists.txt           |  1 +
 .../blockage_diagnostics_param_file.yaml      | 13 +++++
 .../launch/nebula_node_container.launch.py    | 51 ++++++++++++++++---
 5 files changed, 91 insertions(+), 8 deletions(-)
 create mode 100644 common_sensor_launch/config/blockage_diagnostics_param_file.yaml

diff --git a/aip_xx1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml b/aip_xx1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml
index 6df6325d..7495279f 100644
--- a/aip_xx1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml
+++ b/aip_xx1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml
@@ -18,6 +18,15 @@
           type: diagnostic_aggregator/AnalyzerGroup
           path: lidar
           analyzers:
+            performance_monitoring:
+              type: diagnostic_aggregator/AnalyzerGroup
+              path: performance_monitoring
+              analyzers:
+                blockage:
+                  type: diagnostic_aggregator/GenericAnalyzer
+                  path: blockage
+                  contains: [": blockage_validation"]
+                  timeout: 1.0
             velodyne:
               type: diagnostic_aggregator/AnalyzerGroup
               path: velodyne
diff --git a/aip_xx1_launch/launch/lidar.launch.xml b/aip_xx1_launch/launch/lidar.launch.xml
index 77ec443f..f39e90c9 100644
--- a/aip_xx1_launch/launch/lidar.launch.xml
+++ b/aip_xx1_launch/launch/lidar.launch.xml
@@ -7,6 +7,7 @@
   <arg name="vehicle_mirror_param_file"/>
   <arg name="use_pointcloud_container" default="false" description="launch pointcloud container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
+  <arg name="launch_blockage_diag" default="true"/>
 
   <group>
     <push-ros-namespace namespace="lidar"/>
@@ -24,6 +25,12 @@
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
+        <arg name="angle_range" value="[0.0, 360.0]"/>
+        <arg name="vertical_bins" value="128"/>
+        <arg name="horizontal_ring_id" value="64"/>
+        <arg name="is_channel_order_top2down" value="false"/>
+        <arg name="horizontal_resolution" value="0.4"/>
+        <arg name="launch_blockage_diag" value="$(var launch_blockage_diag)"/>
       </include>
     </group>
 
@@ -42,6 +49,12 @@
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
+        <arg name="angle_range" value="[306., 54.0]"/>
+        <arg name="vertical_bins" value="16"/>
+        <arg name="horizontal_ring_id" value="0"/>
+        <arg name="is_channel_order_top2down" value="false"/>
+        <arg name="horizontal_resolution" value="0.4"/>
+        <arg name="launch_blockage_diag" value="$(var launch_blockage_diag)"/>
       </include>
     </group>
 
@@ -60,6 +73,12 @@
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
+        <arg name="angle_range" value="[306., 54.0]"/>
+        <arg name="vertical_bins" value="16"/>
+        <arg name="horizontal_ring_id" value="0"/>
+        <arg name="is_channel_order_top2down" value="false"/>
+        <arg name="horizontal_resolution" value="0.4"/>
+        <arg name="launch_blockage_diag" value="$(var launch_blockage_diag)"/>
       </include>
     </group>
 
@@ -78,6 +97,12 @@
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
+        <arg name="angle_range" value="[306., 54.0]"/>
+        <arg name="vertical_bins" value="16"/>
+        <arg name="horizontal_ring_id" value="0"/>
+        <arg name="is_channel_order_top2down" value="false"/>
+        <arg name="horizontal_resolution" value="0.4"/>
+        <arg name="launch_blockage_diag" value="$(var launch_blockage_diag)"/>
       </include>
     </group>
 
diff --git a/common_sensor_launch/CMakeLists.txt b/common_sensor_launch/CMakeLists.txt
index 0b3dcbd5..89bfc9f5 100644
--- a/common_sensor_launch/CMakeLists.txt
+++ b/common_sensor_launch/CMakeLists.txt
@@ -11,4 +11,5 @@ endif()
 
 ament_auto_package(INSTALL_TO_SHARE
   launch
+  config
 )
diff --git a/common_sensor_launch/config/blockage_diagnostics_param_file.yaml b/common_sensor_launch/config/blockage_diagnostics_param_file.yaml
new file mode 100644
index 00000000..e8409a50
--- /dev/null
+++ b/common_sensor_launch/config/blockage_diagnostics_param_file.yaml
@@ -0,0 +1,13 @@
+/**:
+  ros__parameters:
+    blockage_ratio_threshold: 0.1
+    blockage_count_threshold: 50
+    blockage_buffering_frames: 2
+    blockage_buffering_interval: 1
+    dust_ratio_threshold: 0.2
+    dust_count_threshold: 10
+    dust_kernel_size: 2
+    dust_buffering_frames: 10
+    dust_buffering_interval: 1
+    distance_coefficient: 327.67
+    horizontal_resolution: 0.4
diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py
index a79681b8..c4c2dc50 100644
--- a/common_sensor_launch/launch/nebula_node_container.launch.py
+++ b/common_sensor_launch/launch/nebula_node_container.launch.py
@@ -25,6 +25,7 @@
 from launch_ros.actions import ComposableNodeContainer
 from launch_ros.actions import LoadComposableNodes
 from launch_ros.descriptions import ComposableNode
+from launch_ros.substitutions import FindPackageShare
 import yaml
 
 
@@ -54,14 +55,12 @@ def get_vehicle_info(context):
     return p
 
 
-def get_vehicle_mirror_info(context):
-    path = LaunchConfiguration("vehicle_mirror_param_file").perform(context)
-    with open(path, "r") as f:
-        p = yaml.safe_load(f)["/**"]["ros__parameters"]
-    return p
-
 
 def launch_setup(context, *args, **kwargs):
+    def load_composable_node_param(param_path):
+        with open(LaunchConfiguration(param_path).perform(context), "r") as f:
+            return yaml.safe_load(f)["/**"]["ros__parameters"]
+    
     def create_parameter_dict(*args):
         result = {}
         for x in args:
@@ -143,7 +142,7 @@ def create_parameter_dict(*args):
         )
     )
 
-    mirror_info = get_vehicle_mirror_info(context)
+    mirror_info = load_composable_node_param("vehicle_mirror_param_file")
     cropbox_parameters["min_x"] = mirror_info["min_longitudinal_offset"]
     cropbox_parameters["max_x"] = mirror_info["max_longitudinal_offset"]
     cropbox_parameters["min_y"] = mirror_info["min_lateral_offset"]
@@ -238,6 +237,28 @@ def create_parameter_dict(*args):
         ],
     )
 
+    blockage_diag_component = ComposableNode(
+        package="pointcloud_preprocessor",
+        plugin="pointcloud_preprocessor::BlockageDiagComponent",
+        name="blockage_diag",
+        remappings=[
+            ("input", "pointcloud_raw_ex"),
+            ("output", "blockage_diag/pointcloud"),
+        ],
+        parameters=[
+            {
+                "angle_range": LaunchConfiguration("angle_range"),
+                "horizontal_ring_id": LaunchConfiguration("horizontal_ring_id"),
+                "vertical_bins": LaunchConfiguration("vertical_bins"),
+                "is_channel_order_top2down": LaunchConfiguration("is_channel_order_top2down"),
+                "max_distance_range": LaunchConfiguration("max_range"),
+                "horizontal_resolution": LaunchConfiguration("horizontal_resolution"),
+            }
+        ]
+        + [load_composable_node_param("blockage_diagnostics_param_file")],
+        extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
+    )
+
     target_container = (
         container
         if UnlessCondition(LaunchConfiguration("use_pointcloud_container")).evaluate(context)
@@ -249,8 +270,13 @@ def create_parameter_dict(*args):
         target_container=target_container,
         condition=IfCondition(LaunchConfiguration("launch_driver")),
     )
+    blockage_diag_loader = LoadComposableNodes(
+        composable_node_descriptions=[blockage_diag_component],
+        target_container=target_container,
+        condition=IfCondition(LaunchConfiguration("launch_blockage_diag")),
+    )
 
-    return [container, component_loader, driver_component_loader]
+    return [container, component_loader, driver_component_loader,blockage_diag_loader]
 
 
 def generate_launch_description():
@@ -290,6 +316,15 @@ def add_launch_arg(name: str, default_value=None, description=None):
     add_launch_arg("use_pointcloud_container", "false")
     add_launch_arg("container_name", "nebula_node_container")
 
+    add_launch_arg("angle_range", "[0.0, 360]")
+    add_launch_arg("horizontal_ring_id", "64")
+    add_launch_arg("vertical_bins", "128")
+    add_launch_arg("is_channel_order_top2down", "true")
+    add_launch_arg(
+        "blockage_diagnostics_param_file",
+        [FindPackageShare("common_sensor_launch"), "/config/blockage_diagnostics_param_file.yaml"],
+    )
+
     set_container_executable = SetLaunchConfiguration(
         "container_executable",
         "component_container",

From 8e3ac8b8585d59abef564c65f4425363af8f011c Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Tue, 26 Dec 2023 20:07:26 +0900
Subject: [PATCH 02/11] fix: xx1 launch

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
 aip_xx1_launch/launch/lidar.launch.xml                | 10 +++++-----
 .../config/blockage_diagnostics_param_file.yaml       |  2 --
 .../launch/nebula_node_container.launch.py            | 11 ++++++-----
 3 files changed, 11 insertions(+), 12 deletions(-)

diff --git a/aip_xx1_launch/launch/lidar.launch.xml b/aip_xx1_launch/launch/lidar.launch.xml
index f39e90c9..efd97805 100644
--- a/aip_xx1_launch/launch/lidar.launch.xml
+++ b/aip_xx1_launch/launch/lidar.launch.xml
@@ -7,7 +7,7 @@
   <arg name="vehicle_mirror_param_file"/>
   <arg name="use_pointcloud_container" default="false" description="launch pointcloud container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
-  <arg name="launch_blockage_diag" default="true"/>
+  <arg name="enable_blockage_diag" default="true"/>
 
   <group>
     <push-ros-namespace namespace="lidar"/>
@@ -30,7 +30,7 @@
         <arg name="horizontal_ring_id" value="64"/>
         <arg name="is_channel_order_top2down" value="false"/>
         <arg name="horizontal_resolution" value="0.4"/>
-        <arg name="launch_blockage_diag" value="$(var launch_blockage_diag)"/>
+        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
       </include>
     </group>
 
@@ -54,7 +54,7 @@
         <arg name="horizontal_ring_id" value="0"/>
         <arg name="is_channel_order_top2down" value="false"/>
         <arg name="horizontal_resolution" value="0.4"/>
-        <arg name="launch_blockage_diag" value="$(var launch_blockage_diag)"/>
+        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
       </include>
     </group>
 
@@ -78,7 +78,7 @@
         <arg name="horizontal_ring_id" value="0"/>
         <arg name="is_channel_order_top2down" value="false"/>
         <arg name="horizontal_resolution" value="0.4"/>
-        <arg name="launch_blockage_diag" value="$(var launch_blockage_diag)"/>
+        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
       </include>
     </group>
 
@@ -102,7 +102,7 @@
         <arg name="horizontal_ring_id" value="0"/>
         <arg name="is_channel_order_top2down" value="false"/>
         <arg name="horizontal_resolution" value="0.4"/>
-        <arg name="launch_blockage_diag" value="$(var launch_blockage_diag)"/>
+        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
       </include>
     </group>
 
diff --git a/common_sensor_launch/config/blockage_diagnostics_param_file.yaml b/common_sensor_launch/config/blockage_diagnostics_param_file.yaml
index e8409a50..b8b62b50 100644
--- a/common_sensor_launch/config/blockage_diagnostics_param_file.yaml
+++ b/common_sensor_launch/config/blockage_diagnostics_param_file.yaml
@@ -9,5 +9,3 @@
     dust_kernel_size: 2
     dust_buffering_frames: 10
     dust_buffering_interval: 1
-    distance_coefficient: 327.67
-    horizontal_resolution: 0.4
diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py
index c4c2dc50..8d31fbde 100644
--- a/common_sensor_launch/launch/nebula_node_container.launch.py
+++ b/common_sensor_launch/launch/nebula_node_container.launch.py
@@ -55,12 +55,11 @@ def get_vehicle_info(context):
     return p
 
 
-
 def launch_setup(context, *args, **kwargs):
     def load_composable_node_param(param_path):
         with open(LaunchConfiguration(param_path).perform(context), "r") as f:
             return yaml.safe_load(f)["/**"]["ros__parameters"]
-    
+
     def create_parameter_dict(*args):
         result = {}
         for x in args:
@@ -273,10 +272,10 @@ def create_parameter_dict(*args):
     blockage_diag_loader = LoadComposableNodes(
         composable_node_descriptions=[blockage_diag_component],
         target_container=target_container,
-        condition=IfCondition(LaunchConfiguration("launch_blockage_diag")),
+        condition=IfCondition(LaunchConfiguration("enable_blockage_diag")),
     )
 
-    return [container, component_loader, driver_component_loader,blockage_diag_loader]
+    return [container, component_loader, driver_component_loader, blockage_diag_loader]
 
 
 def generate_launch_description():
@@ -315,11 +314,13 @@ def add_launch_arg(name: str, default_value=None, description=None):
     add_launch_arg("use_intra_process", "False", "use ROS 2 component container communication")
     add_launch_arg("use_pointcloud_container", "false")
     add_launch_arg("container_name", "nebula_node_container")
-
+    
+    add_launch_arg("enable_blockage_diag", "true")
     add_launch_arg("angle_range", "[0.0, 360]")
     add_launch_arg("horizontal_ring_id", "64")
     add_launch_arg("vertical_bins", "128")
     add_launch_arg("is_channel_order_top2down", "true")
+    add_launch_arg("horizontal_resolution", "0.4")
     add_launch_arg(
         "blockage_diagnostics_param_file",
         [FindPackageShare("common_sensor_launch"), "/config/blockage_diagnostics_param_file.yaml"],

From 4748c456d41c7099f913cecca7b31aecb9abf1e7 Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Tue, 26 Dec 2023 20:18:18 +0900
Subject: [PATCH 03/11] fix: x2 launch

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
 aip_x2_launch/launch/lidar.launch.xml         | 33 +++++++++++++++++++
 .../launch/pandar_node_container.launch.py    |  6 +++-
 2 files changed, 38 insertions(+), 1 deletion(-)

diff --git a/aip_x2_launch/launch/lidar.launch.xml b/aip_x2_launch/launch/lidar.launch.xml
index 6f478053..89375e8c 100644
--- a/aip_x2_launch/launch/lidar.launch.xml
+++ b/aip_x2_launch/launch/lidar.launch.xml
@@ -7,6 +7,7 @@
   <arg name="use_pointcloud_container" default="false" description="launch pointcloud container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name="dual_return_filter_param_file" default="$(find-pkg-share aip_x2_launch)/config/dual_return_filter.param.yaml"/>
+  <arg name="enable_blockage_diag" default="true"/>
 
   <group>
     <push-ros-namespace namespace="lidar" />
@@ -26,6 +27,10 @@
         <arg name="return_mode" value="Strongest" />
         <arg name="min_azimuth_deg" value="135.0"/>
         <arg name="max_azimuth_deg" value="225.0"/>
+        <arg name="is_channel_order_top2down" value="true"/>
+        <arg name="max_distance_range" value="200.0"/>
+        <arg name="horizontal_resolution" value="0.4"/>
+        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/front_lower.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
@@ -46,6 +51,10 @@
         <arg name="vertical_bins" value ="64" />
         <arg name="horizontal_ring_id" value="40" />
         <arg name="return_mode" value="First" />
+        <arg name="is_channel_order_top2down" value="false"/>
+        <arg name="max_distance_range" value="7.5"/>
+        <arg name="horizontal_resolution" value="0.6"/>
+        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/front_upper.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
@@ -68,6 +77,10 @@
         <arg name="horizontal_ring_id" value="12" />
         <arg name="min_azimuth_deg" value="225.0"/>
         <arg name="max_azimuth_deg" value="315.0"/>
+        <arg name="is_channel_order_top2down" value="true"/>
+        <arg name="max_distance_range" value="200.0"/>
+        <arg name="horizontal_resolution" value="0.4"/>
+        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="return_mode" value="Dual" />
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/left_upper.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />
@@ -89,6 +102,10 @@
         <arg name="distance_range" value="[0.1, 7.5]"/>
         <arg name="vertical_bins" value ="64" />
         <arg name="horizontal_ring_id" value="54" />
+        <arg name="is_channel_order_top2down" value="false"/>
+        <arg name="max_distance_range" value="7.5"/>
+        <arg name="horizontal_resolution" value="0.6"/>
+        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="return_mode" value="First" />
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/left_lower.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />
@@ -112,6 +129,10 @@
         <arg name="horizontal_ring_id" value="12" />
         <arg name="min_azimuth_deg" value="45.0"/>
         <arg name="max_azimuth_deg" value="135.0"/>
+        <arg name="is_channel_order_top2down" value="true"/>
+        <arg name="max_distance_range" value="200.0"/>
+        <arg name="horizontal_resolution" value="0.4"/>
+        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="return_mode" value="Dual" />
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/right_upper.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />
@@ -133,6 +154,10 @@
         <arg name="distance_range" value="[0.1, 7.5]"/>
         <arg name="vertical_bins" value ="64" />
         <arg name="horizontal_ring_id" value="54" />
+        <arg name="is_channel_order_top2down" value="false"/>
+        <arg name="max_distance_range" value="7.5"/>
+        <arg name="horizontal_resolution" value="0.6"/>
+        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="return_mode" value="First" />
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/right_lower.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />
@@ -156,6 +181,10 @@
         <arg name="horizontal_ring_id" value="12" />
         <arg name="min_azimuth_deg" value="135.0"/>
         <arg name="max_azimuth_deg" value="225.0"/>
+        <arg name="is_channel_order_top2down" value="true"/>
+        <arg name="max_distance_range" value="200.0"/>
+        <arg name="horizontal_resolution" value="0.4"/>
+        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="return_mode" value="Strongest" />
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/rear_lower.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />
@@ -177,6 +206,10 @@
         <arg name="distance_range" value="[0.1, 7.5]"/>
         <arg name="vertical_bins" value ="64" />
         <arg name="horizontal_ring_id" value="40" />
+        <arg name="is_channel_order_top2down" value="false"/>
+        <arg name="max_distance_range" value="7.5"/>
+        <arg name="horizontal_resolution" value="0.6"/>
+        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="return_mode" value="First" />
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/rear_upper.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />
diff --git a/aip_x2_launch/launch/pandar_node_container.launch.py b/aip_x2_launch/launch/pandar_node_container.launch.py
index cfb39cc4..c6f1da37 100644
--- a/aip_x2_launch/launch/pandar_node_container.launch.py
+++ b/aip_x2_launch/launch/pandar_node_container.launch.py
@@ -245,7 +245,9 @@ def create_parameter_dict(*args):
                 "angle_range": LaunchConfiguration("angle_range"),
                 "horizontal_ring_id": LaunchConfiguration("horizontal_ring_id"),
                 "vertical_bins": LaunchConfiguration("vertical_bins"),
-                "model": LaunchConfiguration("model"),
+                "is_channel_order_top2down": LaunchConfiguration("is_channel_order_top2down"),
+                "max_distance_range": LaunchConfiguration("max_distance_range"),
+                "horizontal_resolution": LaunchConfiguration("horizontal_resolution"),
             }
         ]
         + [load_composable_node_param("blockage_diagnostics_param_file")],
@@ -323,6 +325,8 @@ def add_launch_arg(name: str, default_value=None):
     add_launch_arg("input_frame", LaunchConfiguration("base_frame"))
     add_launch_arg("output_frame", LaunchConfiguration("base_frame"))
     add_launch_arg("dual_return_filter_param_file")
+    add_launch_arg("horizontal_resolution", "0.4")
+    add_launch_arg("max_distance_range", "200.0")
     add_launch_arg(
         "blockage_diagnostics_param_file",
         [FindPackageShare("aip_x2_launch"), "/config/blockage_diagnostics_param_file.yaml"],

From 2bfc94c75d5282da4c0c07e000269a8bd275fac1 Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Tue, 26 Dec 2023 11:19:39 +0000
Subject: [PATCH 04/11] ci(pre-commit): autofix

---
 common_sensor_launch/launch/nebula_node_container.launch.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py
index 8d31fbde..d26be92e 100644
--- a/common_sensor_launch/launch/nebula_node_container.launch.py
+++ b/common_sensor_launch/launch/nebula_node_container.launch.py
@@ -314,7 +314,7 @@ def add_launch_arg(name: str, default_value=None, description=None):
     add_launch_arg("use_intra_process", "False", "use ROS 2 component container communication")
     add_launch_arg("use_pointcloud_container", "false")
     add_launch_arg("container_name", "nebula_node_container")
-    
+
     add_launch_arg("enable_blockage_diag", "true")
     add_launch_arg("angle_range", "[0.0, 360]")
     add_launch_arg("horizontal_ring_id", "64")

From 15cb8e39ce51a211f2237cc284954249440026c0 Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Thu, 28 Dec 2023 13:04:13 +0900
Subject: [PATCH 05/11] fix: remove duplicated angle_range param

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
 aip_xx1_launch/launch/lidar.launch.xml                      | 4 ----
 common_sensor_launch/launch/nebula_node_container.launch.py | 6 ++++--
 2 files changed, 4 insertions(+), 6 deletions(-)

diff --git a/aip_xx1_launch/launch/lidar.launch.xml b/aip_xx1_launch/launch/lidar.launch.xml
index efd97805..28900e0b 100644
--- a/aip_xx1_launch/launch/lidar.launch.xml
+++ b/aip_xx1_launch/launch/lidar.launch.xml
@@ -25,7 +25,6 @@
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
-        <arg name="angle_range" value="[0.0, 360.0]"/>
         <arg name="vertical_bins" value="128"/>
         <arg name="horizontal_ring_id" value="64"/>
         <arg name="is_channel_order_top2down" value="false"/>
@@ -49,7 +48,6 @@
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
-        <arg name="angle_range" value="[306., 54.0]"/>
         <arg name="vertical_bins" value="16"/>
         <arg name="horizontal_ring_id" value="0"/>
         <arg name="is_channel_order_top2down" value="false"/>
@@ -73,7 +71,6 @@
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
-        <arg name="angle_range" value="[306., 54.0]"/>
         <arg name="vertical_bins" value="16"/>
         <arg name="horizontal_ring_id" value="0"/>
         <arg name="is_channel_order_top2down" value="false"/>
@@ -97,7 +94,6 @@
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
-        <arg name="angle_range" value="[306., 54.0]"/>
         <arg name="vertical_bins" value="16"/>
         <arg name="horizontal_ring_id" value="0"/>
         <arg name="is_channel_order_top2down" value="false"/>
diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py
index d26be92e..ad12082c 100644
--- a/common_sensor_launch/launch/nebula_node_container.launch.py
+++ b/common_sensor_launch/launch/nebula_node_container.launch.py
@@ -246,7 +246,10 @@ def create_parameter_dict(*args):
         ],
         parameters=[
             {
-                "angle_range": LaunchConfiguration("angle_range"),
+                "angle_range": [
+                    float(context.perform_substitution(LaunchConfiguration("cloud_min_angle"))),
+                    float(context.perform_substitution(LaunchConfiguration("cloud_max_angle"))),
+                ],
                 "horizontal_ring_id": LaunchConfiguration("horizontal_ring_id"),
                 "vertical_bins": LaunchConfiguration("vertical_bins"),
                 "is_channel_order_top2down": LaunchConfiguration("is_channel_order_top2down"),
@@ -316,7 +319,6 @@ def add_launch_arg(name: str, default_value=None, description=None):
     add_launch_arg("container_name", "nebula_node_container")
 
     add_launch_arg("enable_blockage_diag", "true")
-    add_launch_arg("angle_range", "[0.0, 360]")
     add_launch_arg("horizontal_ring_id", "64")
     add_launch_arg("vertical_bins", "128")
     add_launch_arg("is_channel_order_top2down", "true")

From fa935883bae2f973dbfc51f64f7ed4bc3f896b0e Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Thu, 28 Dec 2023 14:09:51 +0900
Subject: [PATCH 06/11] fix: remove x2 redundant param

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
 aip_x2_launch/launch/lidar.launch.xml                | 8 --------
 aip_x2_launch/launch/pandar_node_container.launch.py | 8 ++++++--
 2 files changed, 6 insertions(+), 10 deletions(-)

diff --git a/aip_x2_launch/launch/lidar.launch.xml b/aip_x2_launch/launch/lidar.launch.xml
index 89375e8c..557304bb 100644
--- a/aip_x2_launch/launch/lidar.launch.xml
+++ b/aip_x2_launch/launch/lidar.launch.xml
@@ -28,7 +28,6 @@
         <arg name="min_azimuth_deg" value="135.0"/>
         <arg name="max_azimuth_deg" value="225.0"/>
         <arg name="is_channel_order_top2down" value="true"/>
-        <arg name="max_distance_range" value="200.0"/>
         <arg name="horizontal_resolution" value="0.4"/>
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/front_lower.csv" />
@@ -52,7 +51,6 @@
         <arg name="horizontal_ring_id" value="40" />
         <arg name="return_mode" value="First" />
         <arg name="is_channel_order_top2down" value="false"/>
-        <arg name="max_distance_range" value="7.5"/>
         <arg name="horizontal_resolution" value="0.6"/>
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/front_upper.csv" />
@@ -78,7 +76,6 @@
         <arg name="min_azimuth_deg" value="225.0"/>
         <arg name="max_azimuth_deg" value="315.0"/>
         <arg name="is_channel_order_top2down" value="true"/>
-        <arg name="max_distance_range" value="200.0"/>
         <arg name="horizontal_resolution" value="0.4"/>
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="return_mode" value="Dual" />
@@ -103,7 +100,6 @@
         <arg name="vertical_bins" value ="64" />
         <arg name="horizontal_ring_id" value="54" />
         <arg name="is_channel_order_top2down" value="false"/>
-        <arg name="max_distance_range" value="7.5"/>
         <arg name="horizontal_resolution" value="0.6"/>
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="return_mode" value="First" />
@@ -130,7 +126,6 @@
         <arg name="min_azimuth_deg" value="45.0"/>
         <arg name="max_azimuth_deg" value="135.0"/>
         <arg name="is_channel_order_top2down" value="true"/>
-        <arg name="max_distance_range" value="200.0"/>
         <arg name="horizontal_resolution" value="0.4"/>
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="return_mode" value="Dual" />
@@ -155,7 +150,6 @@
         <arg name="vertical_bins" value ="64" />
         <arg name="horizontal_ring_id" value="54" />
         <arg name="is_channel_order_top2down" value="false"/>
-        <arg name="max_distance_range" value="7.5"/>
         <arg name="horizontal_resolution" value="0.6"/>
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="return_mode" value="First" />
@@ -182,7 +176,6 @@
         <arg name="min_azimuth_deg" value="135.0"/>
         <arg name="max_azimuth_deg" value="225.0"/>
         <arg name="is_channel_order_top2down" value="true"/>
-        <arg name="max_distance_range" value="200.0"/>
         <arg name="horizontal_resolution" value="0.4"/>
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="return_mode" value="Strongest" />
@@ -207,7 +200,6 @@
         <arg name="vertical_bins" value ="64" />
         <arg name="horizontal_ring_id" value="40" />
         <arg name="is_channel_order_top2down" value="false"/>
-        <arg name="max_distance_range" value="7.5"/>
         <arg name="horizontal_resolution" value="0.6"/>
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <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 c6f1da37..ee0291d5 100644
--- a/aip_x2_launch/launch/pandar_node_container.launch.py
+++ b/aip_x2_launch/launch/pandar_node_container.launch.py
@@ -43,6 +43,10 @@ def get_pandar_monitor_info():
     return p
 
 
+def str2vector(string):
+    return [float(x) for x in string.strip("[]").split(",")]
+
+
 def get_vehicle_info(context):
     # TODO(TIER IV): Use Parameter Substitution after we drop Galactic support
     # https://github.com/ros2/launch_ros/blob/master/launch_ros/launch_ros/substitutions/parameter.py
@@ -232,6 +236,7 @@ def create_parameter_dict(*args):
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )
 
+    distance_range = str2vector(context.perform_substitution(LaunchConfiguration("distance_range")))
     blockage_diag_component = ComposableNode(
         package="pointcloud_preprocessor",
         plugin="pointcloud_preprocessor::BlockageDiagComponent",
@@ -246,7 +251,7 @@ def create_parameter_dict(*args):
                 "horizontal_ring_id": LaunchConfiguration("horizontal_ring_id"),
                 "vertical_bins": LaunchConfiguration("vertical_bins"),
                 "is_channel_order_top2down": LaunchConfiguration("is_channel_order_top2down"),
-                "max_distance_range": LaunchConfiguration("max_distance_range"),
+                "max_distance_range": distance_range[1],
                 "horizontal_resolution": LaunchConfiguration("horizontal_resolution"),
             }
         ]
@@ -326,7 +331,6 @@ def add_launch_arg(name: str, default_value=None):
     add_launch_arg("output_frame", LaunchConfiguration("base_frame"))
     add_launch_arg("dual_return_filter_param_file")
     add_launch_arg("horizontal_resolution", "0.4")
-    add_launch_arg("max_distance_range", "200.0")
     add_launch_arg(
         "blockage_diagnostics_param_file",
         [FindPackageShare("aip_x2_launch"), "/config/blockage_diagnostics_param_file.yaml"],

From 9b4b8ef8820a83273a636be4bd372fadc56391b9 Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Mon, 19 Feb 2024 23:35:47 +0900
Subject: [PATCH 07/11] chore: update config file

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
 common_sensor_launch/config/blockage_diagnostics_param_file.yaml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/common_sensor_launch/config/blockage_diagnostics_param_file.yaml b/common_sensor_launch/config/blockage_diagnostics_param_file.yaml
index b8b62b50..c6ce8e11 100644
--- a/common_sensor_launch/config/blockage_diagnostics_param_file.yaml
+++ b/common_sensor_launch/config/blockage_diagnostics_param_file.yaml
@@ -9,3 +9,4 @@
     dust_kernel_size: 2
     dust_buffering_frames: 10
     dust_buffering_interval: 1
+    blockage_kernel: 10

From fd4bc4a875dd6c7d52f2868152fc982772338186 Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Tue, 27 Feb 2024 09:13:10 +0900
Subject: [PATCH 08/11] chore: disable xx1 blockage as default

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
 aip_xx1_launch/launch/lidar.launch.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/aip_xx1_launch/launch/lidar.launch.xml b/aip_xx1_launch/launch/lidar.launch.xml
index 5b623fcc..709ae39b 100644
--- a/aip_xx1_launch/launch/lidar.launch.xml
+++ b/aip_xx1_launch/launch/lidar.launch.xml
@@ -7,7 +7,7 @@
   <arg name="vehicle_mirror_param_file"/>
   <arg name="use_pointcloud_container" default="false" description="launch pointcloud container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
-  <arg name="enable_blockage_diag" default="true"/>
+  <arg name="enable_blockage_diag" default="false"/>
 
   <group>
     <push-ros-namespace namespace="lidar"/>

From 57612b62c4cfafe3f3e8b4c05ae3ec4af6847bf4 Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Fri, 15 Mar 2024 18:35:57 +0900
Subject: [PATCH 09/11] fix: velodyne launch

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
 common_sensor_launch/launch/velodyne_VLP16.launch.xml  | 10 ++++++++++
 common_sensor_launch/launch/velodyne_VLP32C.launch.xml | 10 ++++++++++
 common_sensor_launch/launch/velodyne_VLS128.launch.xml | 10 ++++++++++
 3 files changed, 30 insertions(+)

diff --git a/common_sensor_launch/launch/velodyne_VLP16.launch.xml b/common_sensor_launch/launch/velodyne_VLP16.launch.xml
index faa32305..a105b0a2 100644
--- a/common_sensor_launch/launch/velodyne_VLP16.launch.xml
+++ b/common_sensor_launch/launch/velodyne_VLP16.launch.xml
@@ -16,6 +16,11 @@
   <arg name="cloud_max_angle" default="360"/>
   <arg name="vehicle_mirror_param_file"/>
   <arg name="container_name" default="velodyne_node_container"/>
+  <arg name="vertical_bins" default="16"/>
+  <arg name="horizontal_ring_id" default="0"/>
+  <arg name="is_channel_order_top2down" default="false"/>
+  <arg name="horizontal_resolution" default="0.4"/>
+  <arg name="enable_blockage_diag" default="true"/>
 
   <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
     <arg name="launch_driver" value="$(var launch_driver)"/>
@@ -34,6 +39,11 @@
     <arg name="use_intra_process" value="true"/>
     <arg name="use_multithread" value="false"/>
     <arg name="container_name" value="$(var container_name)"/>
+    <arg name="vertical_bins" value="$(var vertical_bins)"/>
+    <arg name="horizontal_ring_id" value="$(var horizontal_ring_id)"/>
+    <arg name="is_channel_order_top2down" value="$(var is_channel_order_top2down)"/>
+    <arg name="horizontal_resolution" value="$(var horizontal_resolution)"/>
+    <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
   </include>
 
   <!-- Velodyne Monitor -->
diff --git a/common_sensor_launch/launch/velodyne_VLP32C.launch.xml b/common_sensor_launch/launch/velodyne_VLP32C.launch.xml
index c3db6428..3544d16e 100644
--- a/common_sensor_launch/launch/velodyne_VLP32C.launch.xml
+++ b/common_sensor_launch/launch/velodyne_VLP32C.launch.xml
@@ -16,6 +16,11 @@
   <arg name="cloud_max_angle" default="360"/>
   <arg name="vehicle_mirror_param_file"/>
   <arg name="container_name" default="velodyne_node_container"/>
+  <arg name="vertical_bins" default="32"/>
+  <arg name="horizontal_ring_id" default="0"/>
+  <arg name="is_channel_order_top2down" default="false"/>
+  <arg name="horizontal_resolution" default="0.4"/>
+  <arg name="enable_blockage_diag" default="true"/>
 
   <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
     <arg name="launch_driver" value="$(var launch_driver)"/>
@@ -34,6 +39,11 @@
     <arg name="use_intra_process" value="false"/>
     <arg name="use_multithread" value="false"/>
     <arg name="container_name" value="$(var container_name)"/>
+    <arg name="vertical_bins" value="$(var vertical_bins)"/>
+    <arg name="horizontal_ring_id" value="$(var horizontal_ring_id)"/>
+    <arg name="is_channel_order_top2down" value="$(var is_channel_order_top2down)"/>
+    <arg name="horizontal_resolution" value="$(var horizontal_resolution)"/>
+    <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
   </include>
 
   <!-- Velodyne Monitor -->
diff --git a/common_sensor_launch/launch/velodyne_VLS128.launch.xml b/common_sensor_launch/launch/velodyne_VLS128.launch.xml
index f1d32469..01c8affa 100644
--- a/common_sensor_launch/launch/velodyne_VLS128.launch.xml
+++ b/common_sensor_launch/launch/velodyne_VLS128.launch.xml
@@ -16,6 +16,11 @@
   <arg name="cloud_max_angle" default="360"/>
   <arg name="vehicle_mirror_param_file"/>
   <arg name="container_name" default="velodyne_node_container"/>
+  <arg name="vertical_bins" default="128"/>
+  <arg name="horizontal_ring_id" default="64"/>
+  <arg name="is_channel_order_top2down" default="false"/>
+  <arg name="horizontal_resolution" default="0.4"/>
+  <arg name="enable_blockage_diag" default="false"/>
 
   <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
     <arg name="launch_driver" value="$(var launch_driver)"/>
@@ -34,6 +39,11 @@
     <arg name="use_intra_process" value="true"/>
     <arg name="use_multithread" value="true"/>
     <arg name="container_name" value="$(var container_name)"/>
+    <arg name="vertical_bins" value="$(var vertical_bins)"/>
+    <arg name="horizontal_ring_id" value="$(var horizontal_ring_id)"/>
+    <arg name="is_channel_order_top2down" value="$(var is_channel_order_top2down)"/>
+    <arg name="horizontal_resolution" value="$(var horizontal_resolution)"/>
+    <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
   </include>
 
   <!-- Velodyne Monitor -->

From 38eb0725b5c4012d5e9714c47826e6351b3ec6e7 Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Mon, 18 Mar 2024 23:58:36 +0900
Subject: [PATCH 10/11] Revert "fix: remove x2 redundant param"

This reverts commit fa935883bae2f973dbfc51f64f7ed4bc3f896b0e.
---
 aip_x2_launch/launch/lidar.launch.xml                | 8 ++++++++
 aip_x2_launch/launch/pandar_node_container.launch.py | 8 ++------
 2 files changed, 10 insertions(+), 6 deletions(-)

diff --git a/aip_x2_launch/launch/lidar.launch.xml b/aip_x2_launch/launch/lidar.launch.xml
index 9ccf52af..a6bf2c3d 100644
--- a/aip_x2_launch/launch/lidar.launch.xml
+++ b/aip_x2_launch/launch/lidar.launch.xml
@@ -27,6 +27,7 @@
         <arg name="min_azimuth_deg" value="135.0"/>
         <arg name="max_azimuth_deg" value="225.0"/>
         <arg name="is_channel_order_top2down" value="true"/>
+        <arg name="max_distance_range" value="200.0"/>
         <arg name="horizontal_resolution" value="0.4"/>
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/front_lower.csv" />
@@ -50,6 +51,7 @@
         <arg name="horizontal_ring_id" value="40" />
         <arg name="return_mode" value="First" />
         <arg name="is_channel_order_top2down" value="false"/>
+        <arg name="max_distance_range" value="7.5"/>
         <arg name="horizontal_resolution" value="0.6"/>
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/front_upper.csv" />
@@ -75,6 +77,7 @@
         <arg name="min_azimuth_deg" value="225.0"/>
         <arg name="max_azimuth_deg" value="315.0"/>
         <arg name="is_channel_order_top2down" value="true"/>
+        <arg name="max_distance_range" value="200.0"/>
         <arg name="horizontal_resolution" value="0.4"/>
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="return_mode" value="Dual" />
@@ -99,6 +102,7 @@
         <arg name="vertical_bins" value ="64" />
         <arg name="horizontal_ring_id" value="54" />
         <arg name="is_channel_order_top2down" value="false"/>
+        <arg name="max_distance_range" value="7.5"/>
         <arg name="horizontal_resolution" value="0.6"/>
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="return_mode" value="First" />
@@ -125,6 +129,7 @@
         <arg name="min_azimuth_deg" value="45.0"/>
         <arg name="max_azimuth_deg" value="135.0"/>
         <arg name="is_channel_order_top2down" value="true"/>
+        <arg name="max_distance_range" value="200.0"/>
         <arg name="horizontal_resolution" value="0.4"/>
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="return_mode" value="Dual" />
@@ -149,6 +154,7 @@
         <arg name="vertical_bins" value ="64" />
         <arg name="horizontal_ring_id" value="54" />
         <arg name="is_channel_order_top2down" value="false"/>
+        <arg name="max_distance_range" value="7.5"/>
         <arg name="horizontal_resolution" value="0.6"/>
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="return_mode" value="First" />
@@ -175,6 +181,7 @@
         <arg name="min_azimuth_deg" value="135.0"/>
         <arg name="max_azimuth_deg" value="225.0"/>
         <arg name="is_channel_order_top2down" value="true"/>
+        <arg name="max_distance_range" value="200.0"/>
         <arg name="horizontal_resolution" value="0.4"/>
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="return_mode" value="Strongest" />
@@ -199,6 +206,7 @@
         <arg name="vertical_bins" value ="64" />
         <arg name="horizontal_ring_id" value="40" />
         <arg name="is_channel_order_top2down" value="false"/>
+        <arg name="max_distance_range" value="7.5"/>
         <arg name="horizontal_resolution" value="0.6"/>
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <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 ee0291d5..c6f1da37 100644
--- a/aip_x2_launch/launch/pandar_node_container.launch.py
+++ b/aip_x2_launch/launch/pandar_node_container.launch.py
@@ -43,10 +43,6 @@ def get_pandar_monitor_info():
     return p
 
 
-def str2vector(string):
-    return [float(x) for x in string.strip("[]").split(",")]
-
-
 def get_vehicle_info(context):
     # TODO(TIER IV): Use Parameter Substitution after we drop Galactic support
     # https://github.com/ros2/launch_ros/blob/master/launch_ros/launch_ros/substitutions/parameter.py
@@ -236,7 +232,6 @@ def create_parameter_dict(*args):
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )
 
-    distance_range = str2vector(context.perform_substitution(LaunchConfiguration("distance_range")))
     blockage_diag_component = ComposableNode(
         package="pointcloud_preprocessor",
         plugin="pointcloud_preprocessor::BlockageDiagComponent",
@@ -251,7 +246,7 @@ def create_parameter_dict(*args):
                 "horizontal_ring_id": LaunchConfiguration("horizontal_ring_id"),
                 "vertical_bins": LaunchConfiguration("vertical_bins"),
                 "is_channel_order_top2down": LaunchConfiguration("is_channel_order_top2down"),
-                "max_distance_range": distance_range[1],
+                "max_distance_range": LaunchConfiguration("max_distance_range"),
                 "horizontal_resolution": LaunchConfiguration("horizontal_resolution"),
             }
         ]
@@ -331,6 +326,7 @@ def add_launch_arg(name: str, default_value=None):
     add_launch_arg("output_frame", LaunchConfiguration("base_frame"))
     add_launch_arg("dual_return_filter_param_file")
     add_launch_arg("horizontal_resolution", "0.4")
+    add_launch_arg("max_distance_range", "200.0")
     add_launch_arg(
         "blockage_diagnostics_param_file",
         [FindPackageShare("aip_x2_launch"), "/config/blockage_diagnostics_param_file.yaml"],

From d0e4c121090a9b9301abbe7561669bb38c89babc Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Mon, 18 Mar 2024 23:58:43 +0900
Subject: [PATCH 11/11] Revert "fix: x2 launch"

This reverts commit 4748c456d41c7099f913cecca7b31aecb9abf1e7.
---
 aip_x2_launch/launch/lidar.launch.xml         | 33 -------------------
 .../launch/pandar_node_container.launch.py    |  6 +---
 2 files changed, 1 insertion(+), 38 deletions(-)

diff --git a/aip_x2_launch/launch/lidar.launch.xml b/aip_x2_launch/launch/lidar.launch.xml
index a6bf2c3d..a1c8f5f6 100644
--- a/aip_x2_launch/launch/lidar.launch.xml
+++ b/aip_x2_launch/launch/lidar.launch.xml
@@ -6,7 +6,6 @@
   <arg name="vehicle_mirror_param_file" />
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name="dual_return_filter_param_file" default="$(find-pkg-share aip_x2_launch)/config/dual_return_filter.param.yaml"/>
-  <arg name="enable_blockage_diag" default="true"/>
 
   <group>
     <push-ros-namespace namespace="lidar" />
@@ -26,10 +25,6 @@
         <arg name="return_mode" value="Strongest" />
         <arg name="min_azimuth_deg" value="135.0"/>
         <arg name="max_azimuth_deg" value="225.0"/>
-        <arg name="is_channel_order_top2down" value="true"/>
-        <arg name="max_distance_range" value="200.0"/>
-        <arg name="horizontal_resolution" value="0.4"/>
-        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/front_lower.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
@@ -50,10 +45,6 @@
         <arg name="vertical_bins" value ="64" />
         <arg name="horizontal_ring_id" value="40" />
         <arg name="return_mode" value="First" />
-        <arg name="is_channel_order_top2down" value="false"/>
-        <arg name="max_distance_range" value="7.5"/>
-        <arg name="horizontal_resolution" value="0.6"/>
-        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/front_upper.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
@@ -76,10 +67,6 @@
         <arg name="horizontal_ring_id" value="12" />
         <arg name="min_azimuth_deg" value="225.0"/>
         <arg name="max_azimuth_deg" value="315.0"/>
-        <arg name="is_channel_order_top2down" value="true"/>
-        <arg name="max_distance_range" value="200.0"/>
-        <arg name="horizontal_resolution" value="0.4"/>
-        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="return_mode" value="Dual" />
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/left_upper.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />
@@ -101,10 +88,6 @@
         <arg name="distance_range" value="[0.1, 7.5]"/>
         <arg name="vertical_bins" value ="64" />
         <arg name="horizontal_ring_id" value="54" />
-        <arg name="is_channel_order_top2down" value="false"/>
-        <arg name="max_distance_range" value="7.5"/>
-        <arg name="horizontal_resolution" value="0.6"/>
-        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="return_mode" value="First" />
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/left_lower.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />
@@ -128,10 +111,6 @@
         <arg name="horizontal_ring_id" value="12" />
         <arg name="min_azimuth_deg" value="45.0"/>
         <arg name="max_azimuth_deg" value="135.0"/>
-        <arg name="is_channel_order_top2down" value="true"/>
-        <arg name="max_distance_range" value="200.0"/>
-        <arg name="horizontal_resolution" value="0.4"/>
-        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="return_mode" value="Dual" />
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/right_upper.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />
@@ -153,10 +132,6 @@
         <arg name="distance_range" value="[0.1, 7.5]"/>
         <arg name="vertical_bins" value ="64" />
         <arg name="horizontal_ring_id" value="54" />
-        <arg name="is_channel_order_top2down" value="false"/>
-        <arg name="max_distance_range" value="7.5"/>
-        <arg name="horizontal_resolution" value="0.6"/>
-        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="return_mode" value="First" />
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/right_lower.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />
@@ -180,10 +155,6 @@
         <arg name="horizontal_ring_id" value="12" />
         <arg name="min_azimuth_deg" value="135.0"/>
         <arg name="max_azimuth_deg" value="225.0"/>
-        <arg name="is_channel_order_top2down" value="true"/>
-        <arg name="max_distance_range" value="200.0"/>
-        <arg name="horizontal_resolution" value="0.4"/>
-        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="return_mode" value="Strongest" />
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/rear_lower.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />
@@ -205,10 +176,6 @@
         <arg name="distance_range" value="[0.1, 7.5]"/>
         <arg name="vertical_bins" value ="64" />
         <arg name="horizontal_ring_id" value="40" />
-        <arg name="is_channel_order_top2down" value="false"/>
-        <arg name="max_distance_range" value="7.5"/>
-        <arg name="horizontal_resolution" value="0.6"/>
-        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="return_mode" value="First" />
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/rear_upper.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />
diff --git a/aip_x2_launch/launch/pandar_node_container.launch.py b/aip_x2_launch/launch/pandar_node_container.launch.py
index c6f1da37..cfb39cc4 100644
--- a/aip_x2_launch/launch/pandar_node_container.launch.py
+++ b/aip_x2_launch/launch/pandar_node_container.launch.py
@@ -245,9 +245,7 @@ def create_parameter_dict(*args):
                 "angle_range": LaunchConfiguration("angle_range"),
                 "horizontal_ring_id": LaunchConfiguration("horizontal_ring_id"),
                 "vertical_bins": LaunchConfiguration("vertical_bins"),
-                "is_channel_order_top2down": LaunchConfiguration("is_channel_order_top2down"),
-                "max_distance_range": LaunchConfiguration("max_distance_range"),
-                "horizontal_resolution": LaunchConfiguration("horizontal_resolution"),
+                "model": LaunchConfiguration("model"),
             }
         ]
         + [load_composable_node_param("blockage_diagnostics_param_file")],
@@ -325,8 +323,6 @@ def add_launch_arg(name: str, default_value=None):
     add_launch_arg("input_frame", LaunchConfiguration("base_frame"))
     add_launch_arg("output_frame", LaunchConfiguration("base_frame"))
     add_launch_arg("dual_return_filter_param_file")
-    add_launch_arg("horizontal_resolution", "0.4")
-    add_launch_arg("max_distance_range", "200.0")
     add_launch_arg(
         "blockage_diagnostics_param_file",
         [FindPackageShare("aip_x2_launch"), "/config/blockage_diagnostics_param_file.yaml"],