add ptp_lock_threshold and udp_only

tier4 · Feb 6, 2025 · 509cf4c · 509cf4c
1 parent 22e633c
commit 509cf4c
Show file tree

Hide file tree

Showing 2 changed files with 12 additions and 1 deletion.
diff --git a/aip_x2_gen2_launch/launch/lidar.launch.xml b/aip_x2_gen2_launch/launch/lidar.launch.xml
@@ -42,10 +42,10 @@
         <arg name="ptp_transport_type" value="L2"/>
         <arg name="ptp_switch_type" value="NON_TSN"/>
         <arg name="ptp_domain" value="0"/>
+        <arg name="ptp_lock_threshold" value="100"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
-
         <arg name="blockage_range" value="[90.0, 270.0]"/>
         <arg name="vertical_bins" value ="128" />
         <arg name="horizontal_ring_id" value="40" />
@@ -75,6 +75,7 @@
         <arg name="ptp_transport_type" value="L2"/>
         <arg name="ptp_switch_type" value="NON_TSN"/>
         <arg name="ptp_domain" value="0"/>
+        <arg name="ptp_lock_threshold" value="100"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
@@ -107,6 +108,7 @@
         <arg name="ptp_transport_type" value="L2"/>
         <arg name="ptp_switch_type" value="NON_TSN"/>
         <arg name="ptp_domain" value="0"/>
+        <arg name="ptp_lock_threshold" value="100"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
@@ -139,6 +141,7 @@
         <arg name="ptp_transport_type" value="L2"/>
         <arg name="ptp_switch_type" value="NON_TSN"/>
         <arg name="ptp_domain" value="0"/>
+        <arg name="ptp_lock_threshold" value="100"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
@@ -172,6 +175,7 @@
         <arg name="ptp_transport_type" value="L2"/>
         <arg name="ptp_switch_type" value="NON_TSN"/>
         <arg name="ptp_domain" value="0"/>
+        <arg name="ptp_lock_threshold" value="100"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
@@ -204,6 +208,7 @@
         <arg name="ptp_transport_type" value="L2"/>
         <arg name="ptp_switch_type" value="NON_TSN"/>
         <arg name="ptp_domain" value="0"/>
+        <arg name="ptp_lock_threshold" value="100"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
@@ -236,6 +241,7 @@
         <arg name="ptp_transport_type" value="L2"/>
         <arg name="ptp_switch_type" value="NON_TSN"/>
         <arg name="ptp_domain" value="0"/>
+        <arg name="ptp_lock_threshold" value="100"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
@@ -268,6 +274,7 @@
         <arg name="ptp_transport_type" value="L2"/>
         <arg name="ptp_switch_type" value="NON_TSN"/>
         <arg name="ptp_domain" value="0"/>
+        <arg name="ptp_lock_threshold" value="100"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>

diff --git a/aip_x2_gen2_launch/launch/nebula_node_container.launch.py b/aip_x2_gen2_launch/launch/nebula_node_container.launch.py
@@ -110,9 +110,11 @@ def str2vector(string):
                     "ptp_transport_type",
                     "ptp_switch_type",
                     "ptp_domain",
+                    "ptp_lock_threshold",
                     "diag_span",
                     "calibration_file",
                     "launch_hw",
+                    "udp_only",
                 ),
                 "retry_hw": True,
             },
@@ -288,6 +290,8 @@ def add_launch_arg(name: str, default_value=None, description=None):
     add_launch_arg("host_ip", "255.255.255.255", "host ip address")
     add_launch_arg("sync_angle", "0")
     add_launch_arg("cut_angle", "0.0")
+    add_launch_arg("ptp_lock_threshold", "100")
+    add_launch_arg("udp_only", "False")
     # add_launch_arg("point_filters", "{}", "point filter definitions in JSON format")
     add_launch_arg("base_frame", "base_link", "base frame id")
     add_launch_arg("min_range", "0.3", "minimum view range for Velodyne sensors")