From fba161395de6aa850dc0d6f647aac67eb91f3b31 Mon Sep 17 00:00:00 2001 From: Yukihiro Saito Date: Thu, 20 Jun 2024 16:10:09 +0900 Subject: [PATCH 01/13] feat(aip_xx1_description): update for xx1 gen2 (#210) * update for xx1 gen2 Signed-off-by: Yukihiro Saito * set network configs Signed-off-by: Yuki Takagi * use angle param add OT128 launch Signed-off-by: Yuki Takagi * set lidar horizontal FOV angle Signed-off-by: Yuki Takagi * update settings Signed-off-by: Yuki Takagi * update Signed-off-by: Yuki Takagi * add OT128 launch Signed-off-by: Yuki Takagi * add ptp param Signed-off-by: yuki.takagi@car_8 * complete to write lidar settings Signed-off-by: yuki.takagi@car_8 * ci(pre-commit): autofix * chore: generalized radar names Signed-off-by: Kenzo Lobos-Tsunekawa * feat(aip_xx1_description): update side lidar name Signed-off-by: yuki.takagi@car_8 * feat(aip_xx1_launch): enable imu in adm ecus Signed-off-by: yuki.takagi@car_8 * 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 * change max_range * feat: added the radars to the aip launcher and description Signed-off-by: j4tfwm6z * add nebula argments * fix: fixed naming and enabled the radars Signed-off-by: Kenzo Lobos-Tsunekawa * fix pointcloud preprocess for multi_lidar_ogm * feat: enable radar launch and concatenation for all lidars Signed-off-by: j4tfwm6z * fix(hesai_xt32): update ptp_transport_type from l2 to udp for xt32 Signed-off-by: j4tfwm6z * feat: added an option to select the frame of the radar objects Signed-off-by: Kenzo Lobos-Tsunekawa * feat: add ptp_switch_type to support latest nebula at 2024/03/15 (#222) Signed-off-by: j4tfwm6z Co-authored-by: j4tfwm6z * feat: add radar feature Signed-off-by: yoshiri * fix: revert commenting out of radar.launch.xml Signed-off-by: kminoda * add new folders Signed-off-by: Yuxuan Liu * ci(pre-commit): autofix * add folders for description Signed-off-by: Yuxuan Liu * ci(pre-commit): autofix * fix Spell-check Signed-off-by: Yuxuan Liu * fix package name Signed-off-by: Yuxuan Liu * fix: recover radar.xacro to make gen1 operational Signed-off-by: N-Eiki * ci(pre-commit): autofix * update aip_xx1 for gen2 Signed-off-by: N-Eiki * fix: packages name is aip_xx1_gen2_* but in these files written as aip_xx1_* Signed-off-by: N-Eiki --------- Signed-off-by: Yukihiro Saito Signed-off-by: Yuki Takagi Signed-off-by: yuki.takagi@car_8 Signed-off-by: Kenzo Lobos-Tsunekawa Signed-off-by: j4tfwm6z Signed-off-by: yoshiri Signed-off-by: kminoda Signed-off-by: Yuxuan Liu Signed-off-by: N-Eiki Co-authored-by: Yuki Takagi Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos-Tsunekawa Co-authored-by: j4tfwm6z Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> Co-authored-by: yoshiri Co-authored-by: kminoda Co-authored-by: Yuxuan Liu Co-authored-by: Yuxuan Liu <619684051@qq.com> Co-authored-by: N-Eiki --- aip_xx1_gen2_launch/launch/gnss.launch.xml | 1 + aip_xx1_gen2_launch/launch/radar.launch.xml | 28 +++++++++++++++++ .../launch/nebula_node_container.launch.py | 30 +++++++++++++++++++ 3 files changed, 59 insertions(+) diff --git a/aip_xx1_gen2_launch/launch/gnss.launch.xml b/aip_xx1_gen2_launch/launch/gnss.launch.xml index f035b3aa..b58cfaec 100644 --- a/aip_xx1_gen2_launch/launch/gnss.launch.xml +++ b/aip_xx1_gen2_launch/launch/gnss.launch.xml @@ -27,6 +27,7 @@ + diff --git a/aip_xx1_gen2_launch/launch/radar.launch.xml b/aip_xx1_gen2_launch/launch/radar.launch.xml index c917c9a6..be7fd2d8 100644 --- a/aip_xx1_gen2_launch/launch/radar.launch.xml +++ b/aip_xx1_gen2_launch/launch/radar.launch.xml @@ -56,7 +56,11 @@ +<<<<<<< HEAD +======= + +>>>>>>> 0e294a7 (feat(aip_xx1_description): update for xx1 gen2 (#210)) @@ -88,7 +92,11 @@ +<<<<<<< HEAD +======= + +>>>>>>> 0e294a7 (feat(aip_xx1_description): update for xx1 gen2 (#210)) @@ -120,7 +128,11 @@ +<<<<<<< HEAD +======= + +>>>>>>> 0e294a7 (feat(aip_xx1_description): update for xx1 gen2 (#210)) @@ -152,7 +164,11 @@ +<<<<<<< HEAD +======= + +>>>>>>> 0e294a7 (feat(aip_xx1_description): update for xx1 gen2 (#210)) @@ -184,7 +200,11 @@ +<<<<<<< HEAD +======= + +>>>>>>> 0e294a7 (feat(aip_xx1_description): update for xx1 gen2 (#210)) @@ -216,7 +236,11 @@ +<<<<<<< HEAD +======= + +>>>>>>> 0e294a7 (feat(aip_xx1_description): update for xx1 gen2 (#210)) @@ -227,7 +251,11 @@ +<<<<<<< HEAD +======= + +>>>>>>> 0e294a7 (feat(aip_xx1_description): update for xx1 gen2 (#210)) diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py index 94e74638..278cbe7e 100644 --- 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 From d27b72a6b4d89c2fe9785d7609dda51d9e758418 Mon Sep 17 00:00:00 2001 From: Kento Yabuuchi Date: Fri, 23 Aug 2024 17:22:42 +0900 Subject: [PATCH 02/13] fix path to config file Signed-off-by: Kento Yabuuchi --- aip_xx1_gen2_launch/launch/imu.launch.xml | 2 +- aip_xx1_gen2_launch/launch/sensing.launch.xml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/aip_xx1_gen2_launch/launch/imu.launch.xml b/aip_xx1_gen2_launch/launch/imu.launch.xml index 6e835316..5b5d2ed2 100644 --- a/aip_xx1_gen2_launch/launch/imu.launch.xml +++ b/aip_xx1_gen2_launch/launch/imu.launch.xml @@ -36,7 +36,7 @@ - + diff --git a/aip_xx1_gen2_launch/launch/sensing.launch.xml b/aip_xx1_gen2_launch/launch/sensing.launch.xml index 74f24c15..5fc8246b 100644 --- a/aip_xx1_gen2_launch/launch/sensing.launch.xml +++ b/aip_xx1_gen2_launch/launch/sensing.launch.xml @@ -39,7 +39,7 @@ - + From ec7d5761a27564405df16eeb8965068ab38fac15 Mon Sep 17 00:00:00 2001 From: Kento Yabuuchi Date: Fri, 23 Aug 2024 17:23:33 +0900 Subject: [PATCH 03/13] add launch_hw_monitor variable to enable/disable hw_monitor Signed-off-by: Kento Yabuuchi --- aip_xx1_gen2_launch/launch/lidar.launch.py | 4 +- .../launch/hesai_OT128.launch.xml | 5 ++ .../launch/hesai_XT32.launch.xml | 4 ++ .../launch/nebula_node_container.launch.py | 63 ++++++++++--------- 4 files changed, 47 insertions(+), 29 deletions(-) diff --git a/aip_xx1_gen2_launch/launch/lidar.launch.py b/aip_xx1_gen2_launch/launch/lidar.launch.py index 7174fc9f..26350629 100644 --- a/aip_xx1_gen2_launch/launch/lidar.launch.py +++ b/aip_xx1_gen2_launch/launch/lidar.launch.py @@ -97,6 +97,7 @@ def load_yaml(yaml_file_path): "vehicle_mirror_param_file" ).perform(context) base_parameters["launch_driver"] = LaunchConfiguration("launch_driver").perform(context) + base_parameters["launch_hw_monitor"] = LaunchConfiguration("launch_hw_monitor").perform(context) base_parameters["vehicle_id"] = LaunchConfiguration("vehicle_id").perform(context) base_parameters["pointcloud_container_name"] = LaunchConfiguration( "pointcloud_container_name" @@ -159,7 +160,7 @@ def generate_launch_description(): config_file_arg = DeclareLaunchArgument( "config_file", default_value=os.path.join( - get_package_share_directory("aip_xx1_gen2_launch"), "config", "lidar_launch.yaml" + get_package_share_directory("aip_xx1_gen2_launch"), "config", "lidar_gen2.yaml" ), description="Path to the configuration file", ) @@ -169,6 +170,7 @@ def add_launch_arg(name: str, default_value=None, **kwargs): launch_arguments.append(DeclareLaunchArgument(name, default_value=default_value, **kwargs)) add_launch_arg("launch_driver", "true") + add_launch_arg("launch_hw_monitor", "true", description="launch hardware monitor") add_launch_arg("host_ip", "192.168.1.10") add_launch_arg("use_concat_filter", "true") add_launch_arg( diff --git a/common_sensor_launch/launch/hesai_OT128.launch.xml b/common_sensor_launch/launch/hesai_OT128.launch.xml index 7d4713fd..d381b2ae 100644 --- a/common_sensor_launch/launch/hesai_OT128.launch.xml +++ b/common_sensor_launch/launch/hesai_OT128.launch.xml @@ -3,6 +3,10 @@ + + + @@ -18,6 +22,7 @@ + diff --git a/common_sensor_launch/launch/hesai_XT32.launch.xml b/common_sensor_launch/launch/hesai_XT32.launch.xml index c6ea9b64..c35ab1ca 100644 --- a/common_sensor_launch/launch/hesai_XT32.launch.xml +++ b/common_sensor_launch/launch/hesai_XT32.launch.xml @@ -2,6 +2,9 @@ + + @@ -18,6 +21,7 @@ + diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py index 278cbe7e..04c60fe6 100644 --- a/common_sensor_launch/launch/nebula_node_container.launch.py +++ b/common_sensor_launch/launch/nebula_node_container.launch.py @@ -159,35 +159,38 @@ 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")}], + # There is an issue where hw_monitor crashes due to data race, + # so the monitor will now only be launched when explicitly specified with a launch command. + if LaunchConfiguration("launch_hw_monitor").perform(context): + 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 @@ -372,6 +375,10 @@ def add_launch_arg(name: str, default_value=None, description=None): add_launch_arg("sensor_model", description="sensor model name") add_launch_arg("config_file", "", description="sensor configuration file") add_launch_arg("launch_driver", "True", "do launch driver") + add_launch_arg( + "launch_hw_monitor", + "False", + "do launch hardware monitor. Due to an issue where hw_monitor crashes due to data conflicts, the monitor in launched only when explicitly specified") add_launch_arg("setup_sensor", "True", "configure sensor") add_launch_arg("retry_hw", "false", "retry hw") add_launch_arg("sensor_ip", "192.168.1.201", "device ip address") From e1ce9cb46de3d85967482d714704552fa58a53b5 Mon Sep 17 00:00:00 2001 From: Kento Yabuuchi Date: Fri, 23 Aug 2024 17:56:20 +0900 Subject: [PATCH 04/13] scan_phase is integer Signed-off-by: Kento Yabuuchi --- aip_xx1_gen2_launch/config/lidar_gen2.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/aip_xx1_gen2_launch/config/lidar_gen2.yaml b/aip_xx1_gen2_launch/config/lidar_gen2.yaml index fcfefdd4..8480292f 100644 --- a/aip_xx1_gen2_launch/config/lidar_gen2.yaml +++ b/aip_xx1_gen2_launch/config/lidar_gen2.yaml @@ -6,7 +6,7 @@ launches: sensor_frame: hesai_top sensor_ip: 192.168.1.201 data_port: 2368 - scan_phase: 160 + scan_phase: 160.0 vertical_bins: 128 - sensor_type: hesai_XT32 namespace: front_left From 61e56d04663ba84ff6d38bf2ab419ca0c684145d Mon Sep 17 00:00:00 2001 From: Kento Yabuuchi Date: Mon, 26 Aug 2024 09:48:51 +0900 Subject: [PATCH 05/13] launch hw_monitor only when both launch_driver&launch_monitor are true Signed-off-by: Kento Yabuuchi --- common_sensor_launch/launch/hesai_OT128.launch.xml | 1 - common_sensor_launch/launch/hesai_XT32.launch.xml | 2 +- .../launch/nebula_node_container.launch.py | 13 +++++++++---- 3 files changed, 10 insertions(+), 6 deletions(-) diff --git a/common_sensor_launch/launch/hesai_OT128.launch.xml b/common_sensor_launch/launch/hesai_OT128.launch.xml index d381b2ae..5ebd3bf9 100644 --- a/common_sensor_launch/launch/hesai_OT128.launch.xml +++ b/common_sensor_launch/launch/hesai_OT128.launch.xml @@ -2,7 +2,6 @@ - diff --git a/common_sensor_launch/launch/hesai_XT32.launch.xml b/common_sensor_launch/launch/hesai_XT32.launch.xml index c35ab1ca..f12affbe 100644 --- a/common_sensor_launch/launch/hesai_XT32.launch.xml +++ b/common_sensor_launch/launch/hesai_XT32.launch.xml @@ -21,7 +21,7 @@ - + diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py index 04c60fe6..3d74223d 100644 --- a/common_sensor_launch/launch/nebula_node_container.launch.py +++ b/common_sensor_launch/launch/nebula_node_container.launch.py @@ -159,9 +159,11 @@ def create_parameter_dict(*args): ) ) - # There is an issue where hw_monitor crashes due to data race, + # There is an issue where hw_monitor crashes due to data race, # so the monitor will now only be launched when explicitly specified with a launch command. - if LaunchConfiguration("launch_hw_monitor").perform(context): + launch_hw_monitor: bool = context.perform_substitution(LaunchConfiguration("launch_hw_monitor")) + launch_driver: bool = context.perform_substitution(LaunchConfiguration("launch_driver")) + if launch_hw_monitor and launch_driver: nodes.append( ComposableNode( package="nebula_ros", @@ -188,7 +190,9 @@ def create_parameter_dict(*args): ), }, ], - extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], + extra_arguments=[ + {"use_intra_process_comms": LaunchConfiguration("use_intra_process")} + ], ) ) @@ -378,7 +382,8 @@ def add_launch_arg(name: str, default_value=None, description=None): add_launch_arg( "launch_hw_monitor", "False", - "do launch hardware monitor. Due to an issue where hw_monitor crashes due to data conflicts, the monitor in launched only when explicitly specified") + "do launch hardware monitor. Due to an issue where hw_monitor crashes due to data conflicts, the monitor in launched only when explicitly specified", + ) add_launch_arg("setup_sensor", "True", "configure sensor") add_launch_arg("retry_hw", "false", "retry hw") add_launch_arg("sensor_ip", "192.168.1.201", "device ip address") From 2c2579e30e8e2cffebdb246e0d7aba61cd7e44b8 Mon Sep 17 00:00:00 2001 From: Kento Yabuuchi Date: Mon, 26 Aug 2024 15:49:30 +0900 Subject: [PATCH 06/13] fix Substition using context Signed-off-by: Kento Yabuuchi --- aip_xx1_gen2_launch/launch/lidar.launch.py | 2 +- common_sensor_launch/launch/nebula_node_container.launch.py | 6 ++++-- 2 files changed, 5 insertions(+), 3 deletions(-) diff --git a/aip_xx1_gen2_launch/launch/lidar.launch.py b/aip_xx1_gen2_launch/launch/lidar.launch.py index 26350629..dd9bfb32 100644 --- a/aip_xx1_gen2_launch/launch/lidar.launch.py +++ b/aip_xx1_gen2_launch/launch/lidar.launch.py @@ -92,7 +92,7 @@ def load_yaml(yaml_file_path): path_dictionary = generate_launch_dictionary() base_parameters = {} - base_parameters["host_ip"] = LaunchConfiguration("host_ip") + base_parameters["host_ip"] = LaunchConfiguration("host_ip").perform(context) base_parameters["vehicle_mirror_param_file"] = LaunchConfiguration( "vehicle_mirror_param_file" ).perform(context) diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py index 3d74223d..66336263 100644 --- a/common_sensor_launch/launch/nebula_node_container.launch.py +++ b/common_sensor_launch/launch/nebula_node_container.launch.py @@ -161,8 +161,10 @@ def create_parameter_dict(*args): # There is an issue where hw_monitor crashes due to data race, # so the monitor will now only be launched when explicitly specified with a launch command. - launch_hw_monitor: bool = context.perform_substitution(LaunchConfiguration("launch_hw_monitor")) - launch_driver: bool = context.perform_substitution(LaunchConfiguration("launch_driver")) + launch_hw_monitor: bool = IfCondition(LaunchConfiguration("launch_hw_monitor")).evaluate( + context + ) + launch_driver: bool = IfCondition(LaunchConfiguration("launch_driver")).evaluate(context) if launch_hw_monitor and launch_driver: nodes.append( ComposableNode( From b24169a0fb9020abce7e10334e53ef5cd634e80e Mon Sep 17 00:00:00 2001 From: j4tfwm6z Date: Tue, 10 Sep 2024 07:42:37 +0900 Subject: [PATCH 07/13] use septentrio driver for gnss --- .../config/mosaic_x5_rover.param.yaml | 82 +++++++++++++++++++ aip_xx1_gen2_launch/launch/gnss.launch.xml | 7 +- aip_xx1_gen2_launch/launch/sensing.launch.xml | 3 + 3 files changed, 91 insertions(+), 1 deletion(-) create mode 100644 aip_xx1_gen2_launch/config/mosaic_x5_rover.param.yaml diff --git a/aip_xx1_gen2_launch/config/mosaic_x5_rover.param.yaml b/aip_xx1_gen2_launch/config/mosaic_x5_rover.param.yaml new file mode 100644 index 00000000..c8d70c4a --- /dev/null +++ b/aip_xx1_gen2_launch/config/mosaic_x5_rover.param.yaml @@ -0,0 +1,82 @@ +/**: + ros__parameters: + device: tcp://192.168.20.102:28784 + + frame_id: gnss_link + aux1_frame_id: aux1 + get_spatial_config_from_tf: false + use_ros_axis_orientation: false + receiver_type: gnss + multi_antenna: false + + datum: Default + + att_offset: + heading: 0.0 + pitch: 0.0 + + ant_type: Unknown + ant_serial_nr: Unknown + ant_aux1_type: Unknown + ant_aux1_serial_nr: Unknown + + polling_period: + pvt: 200 + rest: 200 + + use_gnss_time: false + + rtk_settings: + ntrip_1: + id: "" + caster: "" + caster_port: 2101 + username: "" + password: "" + mountpoint: "" + version: "v2" + tls: false + fingerprint: "" + rtk_standard: "auto" + send_gga: "auto" + keep_open: true + ip_server_1: + id: "IPS1" + port: 28785 + rtk_standard: "RTCMv3" + send_gga: "auto" + keep_open: true + serial_1: + port: "" + baud_rate: 115200 + rtk_standard: "auto" + send_gga: "auto" + keep_open: true + + publish: + # For both GNSS and INS Rxs + navsatfix: true + gpsfix: false + gpgga: false + gprmc: false + gpst: false + measepoch: false + pvtcartesian: false + pvtgeodetic: true + basevectorcart: false + basevectorgeod: false + poscovcartesian: false + poscovgeodetic: true + velcovgeodetic: false + atteuler: false + attcoveuler: false + pose: false + twist: false + diagnostics: true + # For GNSS Rx only + gpgsa: false + gpgsv: false + + # logger + + activate_debug_log: false diff --git a/aip_xx1_gen2_launch/launch/gnss.launch.xml b/aip_xx1_gen2_launch/launch/gnss.launch.xml index b58cfaec..e36670e1 100644 --- a/aip_xx1_gen2_launch/launch/gnss.launch.xml +++ b/aip_xx1_gen2_launch/launch/gnss.launch.xml @@ -22,7 +22,12 @@ - + + + + + + diff --git a/aip_xx1_gen2_launch/launch/sensing.launch.xml b/aip_xx1_gen2_launch/launch/sensing.launch.xml index 5fc8246b..87b928b2 100644 --- a/aip_xx1_gen2_launch/launch/sensing.launch.xml +++ b/aip_xx1_gen2_launch/launch/sensing.launch.xml @@ -23,16 +23,19 @@ + + + From 14e78abcb6a492c203aa338a773e2b1652a491fc Mon Sep 17 00:00:00 2001 From: j4tfwm6z Date: Fri, 4 Oct 2024 11:39:22 +0900 Subject: [PATCH 08/13] fix OT128 & XT32 PTP profile --- common_sensor_launch/launch/hesai_OT128.launch.xml | 6 +++--- common_sensor_launch/launch/hesai_XT32.launch.xml | 6 +++--- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/common_sensor_launch/launch/hesai_OT128.launch.xml b/common_sensor_launch/launch/hesai_OT128.launch.xml index 5ebd3bf9..31967ea9 100644 --- a/common_sensor_launch/launch/hesai_OT128.launch.xml +++ b/common_sensor_launch/launch/hesai_OT128.launch.xml @@ -36,10 +36,10 @@ - + - - + + diff --git a/common_sensor_launch/launch/hesai_XT32.launch.xml b/common_sensor_launch/launch/hesai_XT32.launch.xml index f12affbe..0effc096 100644 --- a/common_sensor_launch/launch/hesai_XT32.launch.xml +++ b/common_sensor_launch/launch/hesai_XT32.launch.xml @@ -36,9 +36,9 @@ - - - + + + From e29457cbb44b4f3ac803133a0286e45aec469cf5 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Mon, 7 Oct 2024 04:27:22 +0000 Subject: [PATCH 09/13] ci(pre-commit): autofix --- common_sensor_launch/launch/hesai_OT128.launch.xml | 2 +- common_sensor_launch/launch/hesai_XT32.launch.xml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/common_sensor_launch/launch/hesai_OT128.launch.xml b/common_sensor_launch/launch/hesai_OT128.launch.xml index 31967ea9..dcb260f4 100644 --- a/common_sensor_launch/launch/hesai_OT128.launch.xml +++ b/common_sensor_launch/launch/hesai_OT128.launch.xml @@ -2,7 +2,7 @@ - diff --git a/common_sensor_launch/launch/hesai_XT32.launch.xml b/common_sensor_launch/launch/hesai_XT32.launch.xml index 0effc096..e7e93a1b 100644 --- a/common_sensor_launch/launch/hesai_XT32.launch.xml +++ b/common_sensor_launch/launch/hesai_XT32.launch.xml @@ -2,7 +2,7 @@ - From 1d5b8002f214ad02ed6d4c25a769f0062e2af60d Mon Sep 17 00:00:00 2001 From: Kento Yabuuchi Date: Mon, 7 Oct 2024 13:50:37 +0900 Subject: [PATCH 10/13] cspell ignore some septentrio term Signed-off-by: Kento Yabuuchi --- .../config/mosaic_x5_rover.param.yaml | 15 +++++++++++++++ 1 file changed, 15 insertions(+) diff --git a/aip_xx1_gen2_launch/config/mosaic_x5_rover.param.yaml b/aip_xx1_gen2_launch/config/mosaic_x5_rover.param.yaml index c8d70c4a..05cac6ee 100644 --- a/aip_xx1_gen2_launch/config/mosaic_x5_rover.param.yaml +++ b/aip_xx1_gen2_launch/config/mosaic_x5_rover.param.yaml @@ -1,4 +1,19 @@ /**: + # cspell: ignore ntrip + # cspell: ignore gpsfix + # cspell: ignore gpgga + # cspell: ignore gprmc + # cspell: ignore gpst + # cspell: ignore measepoch + # cspell: ignore pvtcartesian + # cspell: ignore basevectorcart + # cspell: ignore basevectorgeod + # cspell: ignore poscovcartesian + # cspell: ignore velcovgeodetic + # cspell: ignore atteuler + # cspell: ignore attcoveuler + # cspell: ignore gpgsa + # cspell: ignore gpgsv ros__parameters: device: tcp://192.168.20.102:28784 From 8e6a0b8ae89d253e857406b09a673d8ae2393d82 Mon Sep 17 00:00:00 2001 From: Kento Yabuuchi Date: Mon, 7 Oct 2024 14:06:25 +0900 Subject: [PATCH 11/13] remove not used files Signed-off-by: Kento Yabuuchi --- aip_xx1_gen2_launch/config/lidar_launch.yaml | 70 ----------- aip_xx1_gen2_launch/launch/lidar.launch.xml | 125 ------------------- 2 files changed, 195 deletions(-) delete mode 100644 aip_xx1_gen2_launch/config/lidar_launch.yaml delete mode 100644 aip_xx1_gen2_launch/launch/lidar.launch.xml diff --git a/aip_xx1_gen2_launch/config/lidar_launch.yaml b/aip_xx1_gen2_launch/config/lidar_launch.yaml deleted file mode 100644 index c702f766..00000000 --- a/aip_xx1_gen2_launch/config/lidar_launch.yaml +++ /dev/null @@ -1,70 +0,0 @@ -launches: - - sensor_type: velodyne_VLS128 - namespace: top - parameters: - max_range: 250.0 - sensor_frame: velodyne_top - sensor_ip: 192.168.1.201 - data_port: 2368 - scan_phase: 300.0 - vertical_bins: 128 - horizontal_ring_id: 64 - horizontal_resolution: 0.4 - is_channel_order_top2down: false - - sensor_type: velodyne_VLP16 - namespace: left - parameters: - max_range: 5.0 - sensor_frame: velodyne_left - sensor_ip: 192.168.1.202 - data_port: 2369 - scan_phase: 180.0 - cloud_min_angle: 300 - cloud_max_angle: 60 - vertical_bins: 16 - horizontal_ring_id: 0 - horizontal_resolution: 0.4 - is_channel_order_top2down: false - - sensor_type: velodyne_VLP16 - namespace: right - parameters: - max_range: 5.0 - sensor_frame: velodyne_right - sensor_ip: 192.168.1.203 - data_port: 2370 - scan_phase: 180.0 - cloud_min_angle: 300 - cloud_max_angle: 60 - vertical_bins: 16 - horizontal_ring_id: 0 - horizontal_resolution: 0.4 - is_channel_order_top2down: false - - sensor_type: velodyne_VLP16 - namespace: rear - parameters: - max_range: 1.5 - sensor_frame: velodyne_rear - sensor_ip: 192.168.1.204 - data_port: 2371 - scan_phase: 180.0 - cloud_min_angle: 300 - cloud_max_angle: 60 - vertical_bins: 16 - horizontal_ring_id: 0 - horizontal_resolution: 0.4 - is_channel_order_top2down: false - -preprocessor: - input_topics: - - /sensing/lidar/top/pointcloud - - /sensing/lidar/left/pointcloud - - /sensing/lidar/right/pointcloud - - /sensing/lidar/rear/pointcloud - input_offset: - - 0.035 - - 0.025 - - 0.025 - - 0.025 - timeout_sec: 0.095 - input_twist_topic_type: twist - publish_synchronized_pointcloud: false diff --git a/aip_xx1_gen2_launch/launch/lidar.launch.xml b/aip_xx1_gen2_launch/launch/lidar.launch.xml deleted file mode 100644 index 4f4b37b7..00000000 --- a/aip_xx1_gen2_launch/launch/lidar.launch.xml +++ /dev/null @@ -1,125 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - From 17621eeadf5c695eb3b30e5d55b43292d054cd48 Mon Sep 17 00:00:00 2001 From: Kento Yabuuchi Date: Mon, 7 Oct 2024 18:22:13 +0900 Subject: [PATCH 12/13] fix conflict resolution Signed-off-by: Kento Yabuuchi --- aip_xx1_gen2_launch/launch/gnss.launch.xml | 1 - aip_xx1_gen2_launch/launch/radar.launch.xml | 28 --------------------- 2 files changed, 29 deletions(-) diff --git a/aip_xx1_gen2_launch/launch/gnss.launch.xml b/aip_xx1_gen2_launch/launch/gnss.launch.xml index e36670e1..775bf214 100644 --- a/aip_xx1_gen2_launch/launch/gnss.launch.xml +++ b/aip_xx1_gen2_launch/launch/gnss.launch.xml @@ -32,7 +32,6 @@ - diff --git a/aip_xx1_gen2_launch/launch/radar.launch.xml b/aip_xx1_gen2_launch/launch/radar.launch.xml index be7fd2d8..c917c9a6 100644 --- a/aip_xx1_gen2_launch/launch/radar.launch.xml +++ b/aip_xx1_gen2_launch/launch/radar.launch.xml @@ -56,11 +56,7 @@ -<<<<<<< HEAD -======= - ->>>>>>> 0e294a7 (feat(aip_xx1_description): update for xx1 gen2 (#210)) @@ -92,11 +88,7 @@ -<<<<<<< HEAD -======= - ->>>>>>> 0e294a7 (feat(aip_xx1_description): update for xx1 gen2 (#210)) @@ -128,11 +120,7 @@ -<<<<<<< HEAD -======= - ->>>>>>> 0e294a7 (feat(aip_xx1_description): update for xx1 gen2 (#210)) @@ -164,11 +152,7 @@ -<<<<<<< HEAD -======= - ->>>>>>> 0e294a7 (feat(aip_xx1_description): update for xx1 gen2 (#210)) @@ -200,11 +184,7 @@ -<<<<<<< HEAD -======= - ->>>>>>> 0e294a7 (feat(aip_xx1_description): update for xx1 gen2 (#210)) @@ -236,11 +216,7 @@ -<<<<<<< HEAD -======= - ->>>>>>> 0e294a7 (feat(aip_xx1_description): update for xx1 gen2 (#210)) @@ -251,11 +227,7 @@ -<<<<<<< HEAD -======= - ->>>>>>> 0e294a7 (feat(aip_xx1_description): update for xx1 gen2 (#210)) From 17024206843bebeb97e7e532cb648cf2bd62f8e4 Mon Sep 17 00:00:00 2001 From: Kento Yabuuchi Date: Tue, 8 Oct 2024 13:26:58 +0900 Subject: [PATCH 13/13] reflect revewer's point Signed-off-by: Kento Yabuuchi --- aip_xx1_gen2_description/urdf/sensors.xacro | 18 ------------------ aip_xx1_gen2_launch/launch/lidar.launch.py | 2 +- .../launch/pointcloud_preprocessor.launch.py | 2 +- 3 files changed, 2 insertions(+), 20 deletions(-) diff --git a/aip_xx1_gen2_description/urdf/sensors.xacro b/aip_xx1_gen2_description/urdf/sensors.xacro index 81faabe8..79c2c15f 100644 --- a/aip_xx1_gen2_description/urdf/sensors.xacro +++ b/aip_xx1_gen2_description/urdf/sensors.xacro @@ -16,24 +16,6 @@ yaw="${calibration['base_link']['sensor_kit_base_link']['yaw']}" /> -