Merge branch 'main' into feat/continental_drivers

tier4 · Mar 26, 2024 · 6a7ff4c · 6a7ff4c
2 parents f0c57f4 + 18bb03a
commit 6a7ff4c
Showing 1 changed file with 8 additions and 5 deletions.
diff --git a/nebula_ros/launch/nebula_launch.py b/nebula_ros/launch/nebula_launch.py
@@ -56,11 +56,14 @@ def launch_setup(context, *args, **kwargs):
         sensor_params_fp = os.path.join(nebula_ros_share_dir, "config", "BaseParams.yaml")
     assert os.path.exists(sensor_params_fp), "Sensor params yaml file under config/ was not found: {}".format(sensor_params_fp)
 
+    sensor_calib_fp = sensor_corr_fp = ""
     if sensor_extension is not None:  # Velodyne and Hesai
         sensor_calib_fp = os.path.join(nebula_decoders_share_dir, "calibration", sensor_make.lower(), sensor_model + sensor_extension)
         assert os.path.exists(sensor_calib_fp), "Sensor calib file under calibration/ was not found: {}".format(sensor_calib_fp)
-    else:  # Robosense
-        sensor_calib_fp = ""
+
+        if sensor_model.lower() == "pandarat128":
+            sensor_corr_fp = os.path.splitext(sensor_calib_fp)[0] + ".dat"
+            assert os.path.exists(sensor_corr_fp), "Sensor corr file under calibration/ was not found: {}".format(sensor_corr_fp)
 
     with open(sensor_params_fp, "r") as f:
             sensor_params = yaml.safe_load(f)["/**"]["ros__parameters"]
@@ -81,7 +84,7 @@ def launch_setup(context, *args, **kwargs):
                         "sensor_ip": LaunchConfiguration("sensor_ip"),
                         "return_mode": LaunchConfiguration("return_mode"),
                         "calibration_file": calibration_file or sensor_calib_fp,
-                        "correction_file": correction_file or sensor_calib_fp,
+                        "correction_file": correction_file or sensor_corr_fp,
                         "setup_sensor": LaunchConfiguration("setup_sensor"),
                         "ptp_profile": LaunchConfiguration("ptp_profile"),
                         "ptp_domain": LaunchConfiguration("ptp_domain"),
@@ -107,7 +110,7 @@ def launch_setup(context, *args, **kwargs):
                         "sensor_ip": LaunchConfiguration("sensor_ip"),
                         "return_mode": LaunchConfiguration("return_mode"),
                         "calibration_file": calibration_file or sensor_calib_fp,
-                        "correction_file": correction_file or sensor_calib_fp,
+                        "correction_file": correction_file or sensor_corr_fp,
                     },
                 ],
             )
@@ -124,7 +127,7 @@ def launch_setup(context, *args, **kwargs):
                     "sensor_ip": LaunchConfiguration("sensor_ip"),
                     "return_mode": LaunchConfiguration("return_mode"),
                     "calibration_file": calibration_file or sensor_calib_fp,
-                    "correction_file": correction_file or sensor_calib_fp,
+                    "correction_file": correction_file or sensor_corr_fp,
                     "launch_hw": LaunchConfiguration("launch_hw"),
                     "ptp_profile": LaunchConfiguration("ptp_profile"),
                     "ptp_domain": LaunchConfiguration("ptp_domain"),