feat(aip_xx1_description): update for xx1 gen2 #210

yukkysaito · 2024-02-03T13:21:39Z

update aip_xx1_description for xx1 gen2

Update(06/20 by Yuxuan Liu)

The current arrangement
We will change the sensor_model from aip_xx1 to aip_xx1_gen2 for Gen2 vehicles.

What will be modified in code in detailed

We will change the argument of sensor_model for Gen2 cars.
individual_model/config/vehicle_id/aip_xx1 -> ..../vehicle_id/aip_xx1_gen2 (https://github.com/tier4/autoware_individual_params.jpntaxi/pull/102 ready to test and merge)
Add the aip_xx1_gen2_description/aip_xx1_gen2_launch (this PR. ready to test and merge)

Test Performed
Planning simulation: internal link
Perception evaluator: Internal link1, internal link2

Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>

yukkysaito · 2024-02-03T13:26:56Z

Note that existing aip_xx1 will not work after merging this one.

Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>

add OT128 launch Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>

Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>

Signed-off-by: yuki.takagi@car_8 <yuki.takagi@tier4.jp>

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

… feature/xx1-gen2

Signed-off-by: yuki.takagi@car_8 <yuki.takagi@tier4.jp>

…x1-gen2

Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>

Owen-Liuyuxuan · 2024-06-12T02:10:00Z

@N-Eiki
For now, the conflicts have been fixed and the python-launch has been completed.

We could manage the usage of different sensors with environment variables or arguments in launches.

Owen-Liuyuxuan · 2024-06-17T07:25:07Z

After discussion of the architecture with @shmpwk, I will:

Set an xx1-gen2-parameterized-lidar branch to store the updates on the parameterized lidar/parameterized launch (the refactoring one with high flexibility)
In this PR/branch, revert my own contributions (from b20cfcd to 489078d), and make a new folder of new aip_xx1_gen2_launch (this will also revoke the merge commit, but I have tested on a small branch that it preserves all of the existing 34 commits before)

Signed-off-by: Yuxuan Liu <uken.ryu.2@tier4.jp>

Signed-off-by: N-Eiki <eiki.nagata.2@tier4.jp>

Owen-Liuyuxuan · 2024-06-19T01:35:59Z

@yukkysaito @tkimura4

The current arrangement
We will change the sensor_model from aip_xx1 to aip_xx1_gen2 for Gen2 vehicles.

What will be modified in code in detailed

We will change the argument of sensor_model for Gen2 cars.
individual_model/config/vehicle_id/aip_xx1 -> ..../vehicle_id/aip_xx1_gen2 (https://github.com/tier4/autoware_individual_params.jpntaxi/pull/102 ready to test and merge)
Add the aip_xx1_gen2_description/aip_xx1_gen2_launch (this PR. ready to test and merge)

Signed-off-by: N-Eiki <eiki.nagata.2@tier4.jp>

… feature/xx1-gen2

…p_xx1_* Signed-off-by: N-Eiki <eiki.nagata.2@tier4.jp>

shmpwk · 2024-06-20T06:07:53Z

@Owen-Liuyuxuan @N-Eiki
Could you reflect this description to the top description?
Also, if you tested something, could you write there?

shmpwk · 2024-06-20T09:57:53Z

@Owen-Liuyuxuan @N-Eiki
DId you check perception evaluator?

This reverts commit d1d423d. Signed-off-by: Sho Iwasawa <sho.iwasawa.2@tier4.jp>

Revert "feat(aip_xx1_description): update for xx1 gen2 (#210)" This reverts commit d1d423d. Signed-off-by: Sho Iwasawa <sho.iwasawa.2@tier4.jp>

* update for xx1 gen2 Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * set network configs Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> * use angle param add OT128 launch Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> * set lidar horizontal FOV angle Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> * update settings Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> * update Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> * add OT128 launch Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> * add ptp param Signed-off-by: yuki.takagi@car_8 <yuki.takagi@tier4.jp> * complete to write lidar settings Signed-off-by: yuki.takagi@car_8 <yuki.takagi@tier4.jp> * ci(pre-commit): autofix * chore: generalized radar names Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * feat(aip_xx1_description): update side lidar name Signed-off-by: yuki.takagi@car_8 <yuki.takagi@tier4.jp> * feat(aip_xx1_launch): enable imu in adm ecus Signed-off-by: yuki.takagi@car_8 <yuki.takagi@tier4.jp> * 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 <yukky.saito@gmail.com> * change max_range * feat: added the radars to the aip launcher and description Signed-off-by: j4tfwm6z <j4tfwm6z@tier4.jp> * add nebula argments * fix: fixed naming and enabled the radars Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * fix pointcloud preprocess for multi_lidar_ogm * feat: enable radar launch and concatenation for all lidars Signed-off-by: j4tfwm6z <j4tfwm6z@tier4.jp> * fix(hesai_xt32): update ptp_transport_type from l2 to udp for xt32 Signed-off-by: j4tfwm6z <j4tfwm6z@tier4.jp> * feat: added an option to select the frame of the radar objects Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * feat: add ptp_switch_type to support latest nebula at 2024/03/15 (#222) Signed-off-by: j4tfwm6z <j4tfwm6z@tier4.jp> Co-authored-by: j4tfwm6z <j4tfwm6z@tier4.jp> * feat: add radar feature Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * fix: revert commenting out of radar.launch.xml Signed-off-by: kminoda <koji.minoda@tier4.jp> * add new folders Signed-off-by: Yuxuan Liu <uken.ryu.2@tier4.jp> * ci(pre-commit): autofix * add folders for description Signed-off-by: Yuxuan Liu <uken.ryu.2@tier4.jp> * ci(pre-commit): autofix * fix Spell-check Signed-off-by: Yuxuan Liu <uken.ryu.2@tier4.jp> * fix package name Signed-off-by: Yuxuan Liu <uken.ryu.2@tier4.jp> * fix: recover radar.xacro to make gen1 operational Signed-off-by: N-Eiki <eiki.nagata.2@tier4.jp> * ci(pre-commit): autofix * update aip_xx1 for gen2 Signed-off-by: N-Eiki <eiki.nagata.2@tier4.jp> * fix: packages name is aip_xx1_gen2_* but in these files written as aip_xx1_* Signed-off-by: N-Eiki <eiki.nagata.2@tier4.jp> --------- Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> Signed-off-by: yuki.takagi@car_8 <yuki.takagi@tier4.jp> Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> Signed-off-by: j4tfwm6z <j4tfwm6z@tier4.jp> Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> Signed-off-by: kminoda <koji.minoda@tier4.jp> Signed-off-by: Yuxuan Liu <uken.ryu.2@tier4.jp> Signed-off-by: N-Eiki <eiki.nagata.2@tier4.jp> Co-authored-by: Yuki Takagi <yuki.takagi@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> Co-authored-by: j4tfwm6z <j4tfwm6z@tier4.jp> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> Co-authored-by: yoshiri <yoshiyoshidetteiu@gmail.com> Co-authored-by: kminoda <koji.minoda@tier4.jp> Co-authored-by: Yuxuan Liu <uken.ryu.2@tier4.jp> Co-authored-by: Yuxuan Liu <619684051@qq.com> Co-authored-by: N-Eiki <eiki.nagata.2@tier4.jp>

Revert "feat(aip_xx1_description): update for xx1 gen2 (#210)" This reverts commit d1d423d. Signed-off-by: Sho Iwasawa <sho.iwasawa.2@tier4.jp>

* update for xx1 gen2 Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * set network configs Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> * use angle param add OT128 launch Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> * set lidar horizontal FOV angle Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> * update settings Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> * update Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> * add OT128 launch Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> * add ptp param Signed-off-by: yuki.takagi@car_8 <yuki.takagi@tier4.jp> * complete to write lidar settings Signed-off-by: yuki.takagi@car_8 <yuki.takagi@tier4.jp> * ci(pre-commit): autofix * chore: generalized radar names Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * feat(aip_xx1_description): update side lidar name Signed-off-by: yuki.takagi@car_8 <yuki.takagi@tier4.jp> * feat(aip_xx1_launch): enable imu in adm ecus Signed-off-by: yuki.takagi@car_8 <yuki.takagi@tier4.jp> * 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 <yukky.saito@gmail.com> * change max_range * feat: added the radars to the aip launcher and description Signed-off-by: j4tfwm6z <j4tfwm6z@tier4.jp> * add nebula argments * fix: fixed naming and enabled the radars Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * fix pointcloud preprocess for multi_lidar_ogm * feat: enable radar launch and concatenation for all lidars Signed-off-by: j4tfwm6z <j4tfwm6z@tier4.jp> * fix(hesai_xt32): update ptp_transport_type from l2 to udp for xt32 Signed-off-by: j4tfwm6z <j4tfwm6z@tier4.jp> * feat: added an option to select the frame of the radar objects Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * feat: add ptp_switch_type to support latest nebula at 2024/03/15 (#222) Signed-off-by: j4tfwm6z <j4tfwm6z@tier4.jp> Co-authored-by: j4tfwm6z <j4tfwm6z@tier4.jp> * feat: add radar feature Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * fix: revert commenting out of radar.launch.xml Signed-off-by: kminoda <koji.minoda@tier4.jp> * add new folders Signed-off-by: Yuxuan Liu <uken.ryu.2@tier4.jp> * ci(pre-commit): autofix * add folders for description Signed-off-by: Yuxuan Liu <uken.ryu.2@tier4.jp> * ci(pre-commit): autofix * fix Spell-check Signed-off-by: Yuxuan Liu <uken.ryu.2@tier4.jp> * fix package name Signed-off-by: Yuxuan Liu <uken.ryu.2@tier4.jp> * fix: recover radar.xacro to make gen1 operational Signed-off-by: N-Eiki <eiki.nagata.2@tier4.jp> * ci(pre-commit): autofix * update aip_xx1 for gen2 Signed-off-by: N-Eiki <eiki.nagata.2@tier4.jp> * fix: packages name is aip_xx1_gen2_* but in these files written as aip_xx1_* Signed-off-by: N-Eiki <eiki.nagata.2@tier4.jp> --------- Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> Signed-off-by: yuki.takagi@car_8 <yuki.takagi@tier4.jp> Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> Signed-off-by: j4tfwm6z <j4tfwm6z@tier4.jp> Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> Signed-off-by: kminoda <koji.minoda@tier4.jp> Signed-off-by: Yuxuan Liu <uken.ryu.2@tier4.jp> Signed-off-by: N-Eiki <eiki.nagata.2@tier4.jp> Co-authored-by: Yuki Takagi <yuki.takagi@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> Co-authored-by: j4tfwm6z <j4tfwm6z@tier4.jp> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> Co-authored-by: yoshiri <yoshiyoshidetteiu@gmail.com> Co-authored-by: kminoda <koji.minoda@tier4.jp> Co-authored-by: Yuxuan Liu <uken.ryu.2@tier4.jp> Co-authored-by: Yuxuan Liu <619684051@qq.com> Co-authored-by: N-Eiki <eiki.nagata.2@tier4.jp>

* feat(aip_xx1_description): update for xx1 gen2 (#210) * update for xx1 gen2 Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * set network configs Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> * use angle param add OT128 launch Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> * set lidar horizontal FOV angle Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> * update settings Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> * update Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> * add OT128 launch Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> * add ptp param Signed-off-by: yuki.takagi@car_8 <yuki.takagi@tier4.jp> * complete to write lidar settings Signed-off-by: yuki.takagi@car_8 <yuki.takagi@tier4.jp> * ci(pre-commit): autofix * chore: generalized radar names Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * feat(aip_xx1_description): update side lidar name Signed-off-by: yuki.takagi@car_8 <yuki.takagi@tier4.jp> * feat(aip_xx1_launch): enable imu in adm ecus Signed-off-by: yuki.takagi@car_8 <yuki.takagi@tier4.jp> * 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 <yukky.saito@gmail.com> * change max_range * feat: added the radars to the aip launcher and description Signed-off-by: j4tfwm6z <j4tfwm6z@tier4.jp> * add nebula argments * fix: fixed naming and enabled the radars Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * fix pointcloud preprocess for multi_lidar_ogm * feat: enable radar launch and concatenation for all lidars Signed-off-by: j4tfwm6z <j4tfwm6z@tier4.jp> * fix(hesai_xt32): update ptp_transport_type from l2 to udp for xt32 Signed-off-by: j4tfwm6z <j4tfwm6z@tier4.jp> * feat: added an option to select the frame of the radar objects Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * feat: add ptp_switch_type to support latest nebula at 2024/03/15 (#222) Signed-off-by: j4tfwm6z <j4tfwm6z@tier4.jp> Co-authored-by: j4tfwm6z <j4tfwm6z@tier4.jp> * feat: add radar feature Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * fix: revert commenting out of radar.launch.xml Signed-off-by: kminoda <koji.minoda@tier4.jp> * add new folders Signed-off-by: Yuxuan Liu <uken.ryu.2@tier4.jp> * ci(pre-commit): autofix * add folders for description Signed-off-by: Yuxuan Liu <uken.ryu.2@tier4.jp> * ci(pre-commit): autofix * fix Spell-check Signed-off-by: Yuxuan Liu <uken.ryu.2@tier4.jp> * fix package name Signed-off-by: Yuxuan Liu <uken.ryu.2@tier4.jp> * fix: recover radar.xacro to make gen1 operational Signed-off-by: N-Eiki <eiki.nagata.2@tier4.jp> * ci(pre-commit): autofix * update aip_xx1 for gen2 Signed-off-by: N-Eiki <eiki.nagata.2@tier4.jp> * fix: packages name is aip_xx1_gen2_* but in these files written as aip_xx1_* Signed-off-by: N-Eiki <eiki.nagata.2@tier4.jp> --------- Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> Signed-off-by: yuki.takagi@car_8 <yuki.takagi@tier4.jp> Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> Signed-off-by: j4tfwm6z <j4tfwm6z@tier4.jp> Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> Signed-off-by: kminoda <koji.minoda@tier4.jp> Signed-off-by: Yuxuan Liu <uken.ryu.2@tier4.jp> Signed-off-by: N-Eiki <eiki.nagata.2@tier4.jp> Co-authored-by: Yuki Takagi <yuki.takagi@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> Co-authored-by: j4tfwm6z <j4tfwm6z@tier4.jp> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> Co-authored-by: yoshiri <yoshiyoshidetteiu@gmail.com> Co-authored-by: kminoda <koji.minoda@tier4.jp> Co-authored-by: Yuxuan Liu <uken.ryu.2@tier4.jp> Co-authored-by: Yuxuan Liu <619684051@qq.com> Co-authored-by: N-Eiki <eiki.nagata.2@tier4.jp> * fix path to config file Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add launch_hw_monitor variable to enable/disable hw_monitor Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * scan_phase is integer Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * launch hw_monitor only when both launch_driver&launch_monitor are true Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * fix Substition using context Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * use septentrio driver for gnss * fix OT128 & XT32 PTP profile * ci(pre-commit): autofix * cspell ignore some septentrio term Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * remove not used files Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * reflect revewer's point Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> --------- Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> Signed-off-by: yuki.takagi@car_8 <yuki.takagi@tier4.jp> Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> Signed-off-by: j4tfwm6z <j4tfwm6z@tier4.jp> Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> Signed-off-by: kminoda <koji.minoda@tier4.jp> Signed-off-by: Yuxuan Liu <uken.ryu.2@tier4.jp> Signed-off-by: N-Eiki <eiki.nagata.2@tier4.jp> Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: Yuki Takagi <yuki.takagi@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> Co-authored-by: j4tfwm6z <j4tfwm6z@tier4.jp> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> Co-authored-by: yoshiri <yoshiyoshidetteiu@gmail.com> Co-authored-by: kminoda <koji.minoda@tier4.jp> Co-authored-by: Yuxuan Liu <uken.ryu.2@tier4.jp> Co-authored-by: Yuxuan Liu <619684051@qq.com> Co-authored-by: N-Eiki <eiki.nagata.2@tier4.jp>

* feat(aip_xx1_description): update for xx1 gen2 (#210) * update for xx1 gen2 Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * set network configs Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> * use angle param add OT128 launch Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> * set lidar horizontal FOV angle Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> * update settings Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> * update Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> * add OT128 launch Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> * add ptp param Signed-off-by: yuki.takagi@car_8 <yuki.takagi@tier4.jp> * complete to write lidar settings Signed-off-by: yuki.takagi@car_8 <yuki.takagi@tier4.jp> * ci(pre-commit): autofix * chore: generalized radar names Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * feat(aip_xx1_description): update side lidar name Signed-off-by: yuki.takagi@car_8 <yuki.takagi@tier4.jp> * feat(aip_xx1_launch): enable imu in adm ecus Signed-off-by: yuki.takagi@car_8 <yuki.takagi@tier4.jp> * 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 <yukky.saito@gmail.com> * change max_range * feat: added the radars to the aip launcher and description Signed-off-by: j4tfwm6z <j4tfwm6z@tier4.jp> * add nebula argments * fix: fixed naming and enabled the radars Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * fix pointcloud preprocess for multi_lidar_ogm * feat: enable radar launch and concatenation for all lidars Signed-off-by: j4tfwm6z <j4tfwm6z@tier4.jp> * fix(hesai_xt32): update ptp_transport_type from l2 to udp for xt32 Signed-off-by: j4tfwm6z <j4tfwm6z@tier4.jp> * feat: added an option to select the frame of the radar objects Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * feat: add ptp_switch_type to support latest nebula at 2024/03/15 (#222) Signed-off-by: j4tfwm6z <j4tfwm6z@tier4.jp> Co-authored-by: j4tfwm6z <j4tfwm6z@tier4.jp> * feat: add radar feature Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * fix: revert commenting out of radar.launch.xml Signed-off-by: kminoda <koji.minoda@tier4.jp> * add new folders Signed-off-by: Yuxuan Liu <uken.ryu.2@tier4.jp> * ci(pre-commit): autofix * add folders for description Signed-off-by: Yuxuan Liu <uken.ryu.2@tier4.jp> * ci(pre-commit): autofix * fix Spell-check Signed-off-by: Yuxuan Liu <uken.ryu.2@tier4.jp> * fix package name Signed-off-by: Yuxuan Liu <uken.ryu.2@tier4.jp> * fix: recover radar.xacro to make gen1 operational Signed-off-by: N-Eiki <eiki.nagata.2@tier4.jp> * ci(pre-commit): autofix * update aip_xx1 for gen2 Signed-off-by: N-Eiki <eiki.nagata.2@tier4.jp> * fix: packages name is aip_xx1_gen2_* but in these files written as aip_xx1_* Signed-off-by: N-Eiki <eiki.nagata.2@tier4.jp> --------- Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> Signed-off-by: yuki.takagi@car_8 <yuki.takagi@tier4.jp> Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> Signed-off-by: j4tfwm6z <j4tfwm6z@tier4.jp> Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> Signed-off-by: kminoda <koji.minoda@tier4.jp> Signed-off-by: Yuxuan Liu <uken.ryu.2@tier4.jp> Signed-off-by: N-Eiki <eiki.nagata.2@tier4.jp> Co-authored-by: Yuki Takagi <yuki.takagi@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> Co-authored-by: j4tfwm6z <j4tfwm6z@tier4.jp> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> Co-authored-by: yoshiri <yoshiyoshidetteiu@gmail.com> Co-authored-by: kminoda <koji.minoda@tier4.jp> Co-authored-by: Yuxuan Liu <uken.ryu.2@tier4.jp> Co-authored-by: Yuxuan Liu <619684051@qq.com> Co-authored-by: N-Eiki <eiki.nagata.2@tier4.jp> * fix path to config file Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add launch_hw_monitor variable to enable/disable hw_monitor Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * scan_phase is integer Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * launch hw_monitor only when both launch_driver&launch_monitor are true Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * fix Substition using context Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * use septentrio driver for gnss * fix OT128 & XT32 PTP profile * ci(pre-commit): autofix * cspell ignore some septentrio term Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * remove not used files Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * fix conflict resolution Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * reflect revewer's point Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> --------- Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> Signed-off-by: yuki.takagi@car_8 <yuki.takagi@tier4.jp> Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> Signed-off-by: j4tfwm6z <j4tfwm6z@tier4.jp> Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> Signed-off-by: kminoda <koji.minoda@tier4.jp> Signed-off-by: Yuxuan Liu <uken.ryu.2@tier4.jp> Signed-off-by: N-Eiki <eiki.nagata.2@tier4.jp> Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: Yuki Takagi <yuki.takagi@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> Co-authored-by: j4tfwm6z <j4tfwm6z@tier4.jp> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> Co-authored-by: yoshiri <yoshiyoshidetteiu@gmail.com> Co-authored-by: kminoda <koji.minoda@tier4.jp> Co-authored-by: Yuxuan Liu <uken.ryu.2@tier4.jp> Co-authored-by: Yuxuan Liu <619684051@qq.com> Co-authored-by: N-Eiki <eiki.nagata.2@tier4.jp>

yukkysaito requested review from shmpwk, tkimura4 and SSSyoshida February 3, 2024 13:21

update for xx1 gen2

606ec89

Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>

yukkysaito force-pushed the feature/xx1-gen2 branch from fcb50b6 to 606ec89 Compare February 3, 2024 13:24

yukkysaito marked this pull request as draft February 3, 2024 13:25

yuki-takagi-66 added 6 commits February 15, 2024 13:59

set network configs

33adae6

Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>

use angle param

845912c

add OT128 launch Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>

set lidar horizontal FOV angle

fd65737

Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>

update settings

79efd42

Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>

update

06c0547

Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>

add OT128 launch

2e0edd2

Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>

yuki-takagi-66 force-pushed the feature/xx1-gen2 branch from 2e0edd2 to e97400f Compare February 21, 2024 01:51

yuki-takagi-66 added 2 commits February 22, 2024 17:45

add ptp param

106edb7

Signed-off-by: yuki.takagi@car_8 <yuki.takagi@tier4.jp>

complete to write lidar settings

dec2668

Signed-off-by: yuki.takagi@car_8 <yuki.takagi@tier4.jp>

j4tfwm6z force-pushed the feature/xx1-gen2 branch from 121592b to dec2668 Compare February 28, 2024 05:07

pre-commit-ci bot and others added 13 commits February 28, 2024 05:07

ci(pre-commit): autofix

168aac2

chore: generalized radar names

78d388b

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

Merge branch 'feature/xx1-gen2' of github.com:tier4/aip_launcher into…

d543ebe

… feature/xx1-gen2

feat(aip_xx1_description): update side lidar name

1bd6ef9

Signed-off-by: yuki.takagi@car_8 <yuki.takagi@tier4.jp>

feat(aip_xx1_launch): enable imu in adm ecus

3f9e267

Signed-off-by: yuki.takagi@car_8 <yuki.takagi@tier4.jp>

change concate lidars

7c307ee

update for xx1 gen2

fe4a73f

rotate top lidar 180

b7c0d3c

change imu_corrector param aip_x2 -> aip_xx1

4870946

enable gnss

78143fc

fix wrong urdf model for OT128

f971b2c

Merge remote-tracking branch 'origin/feature/xx1-gen2' into feature/x…

37d7560

…x1-gen2

fix bug

9d8d78a

Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>

Owen-Liuyuxuan force-pushed the feature/xx1-gen2 branch from 489078d to 0680405 Compare June 17, 2024 07:35

HinsRyu and others added 7 commits June 17, 2024 16:40

add new folders

53e0b0f

Signed-off-by: Yuxuan Liu <uken.ryu.2@tier4.jp>

Merge branch 'tier4/universe' into feature/xx1-gen2

d4d4c92

ci(pre-commit): autofix

2e95c3c

add folders for description

a618544

Signed-off-by: Yuxuan Liu <uken.ryu.2@tier4.jp>

ci(pre-commit): autofix

aa5c2dc

fix Spell-check

d0fbd1a

Signed-off-by: Yuxuan Liu <uken.ryu.2@tier4.jp>

fix package name

573a281

Signed-off-by: Yuxuan Liu <uken.ryu.2@tier4.jp>

Owen-Liuyuxuan marked this pull request as ready for review June 18, 2024 06:39

N-Eiki and others added 2 commits June 18, 2024 16:25

fix: recover radar.xacro to make gen1 operational

9d07d76

Signed-off-by: N-Eiki <eiki.nagata.2@tier4.jp>

ci(pre-commit): autofix

b76f34f

N-Eiki added 3 commits June 19, 2024 14:22

update aip_xx1 for gen2

143346d

Signed-off-by: N-Eiki <eiki.nagata.2@tier4.jp>

Merge branch 'feature/xx1-gen2' of github.com:tier4/aip_launcher into…

6ff4e4c

… feature/xx1-gen2

fix: packages name is aip_xx1_gen2_* but in these files written as ai…

bd25b08

…p_xx1_* Signed-off-by: N-Eiki <eiki.nagata.2@tier4.jp>

N-Eiki self-requested a review June 20, 2024 05:56

N-Eiki approved these changes Jun 20, 2024

View reviewed changes

Owen-Liuyuxuan merged commit d1d423d into tier4/universe Jun 20, 2024
10 of 11 checks passed

Owen-Liuyuxuan deleted the feature/xx1-gen2 branch June 20, 2024 07:10

zusizusi added a commit that referenced this pull request Aug 5, 2024

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

cab97e5

This reverts commit d1d423d. Signed-off-by: Sho Iwasawa <sho.iwasawa.2@tier4.jp>

zusizusi added a commit that referenced this pull request Aug 5, 2024

revert(xx1_gen2): revert PR of updating for xx1 gen2 (#210) (#280)

cdf66b6

Revert "feat(aip_xx1_description): update for xx1 gen2 (#210)" This reverts commit d1d423d. Signed-off-by: Sho Iwasawa <sho.iwasawa.2@tier4.jp>

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feat(aip_xx1_description): update for xx1 gen2 #210

feat(aip_xx1_description): update for xx1 gen2 #210

yukkysaito commented Feb 3, 2024 •

edited by N-Eiki

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yukkysaito commented Feb 3, 2024

Owen-Liuyuxuan commented Jun 12, 2024

Owen-Liuyuxuan commented Jun 17, 2024 •

edited

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Owen-Liuyuxuan commented Jun 19, 2024

shmpwk commented Jun 20, 2024

shmpwk commented Jun 20, 2024

feat(aip_xx1_description): update for xx1 gen2 #210

feat(aip_xx1_description): update for xx1 gen2 #210

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yukkysaito commented Feb 3, 2024 • edited by N-Eiki Loading

Update(06/20 by Yuxuan Liu)

yukkysaito commented Feb 3, 2024

Owen-Liuyuxuan commented Jun 12, 2024

Owen-Liuyuxuan commented Jun 17, 2024 • edited Loading

Owen-Liuyuxuan commented Jun 19, 2024

shmpwk commented Jun 20, 2024

shmpwk commented Jun 20, 2024

yukkysaito commented Feb 3, 2024 •

edited by N-Eiki

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Owen-Liuyuxuan commented Jun 17, 2024 •

edited

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