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fix: to work with nebula's main branch #377

Merged
merged 3 commits into from
Feb 7, 2025
Merged

fix: to work with nebula's main branch #377

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e8c607a
Fixed to work with nebula's main branch
SakodaShintaro Jan 28, 2025
43dafb5
Merge branch 'tier4/universe' into fix/with_nebula_main_20250128
SakodaShintaro Feb 5, 2025
f867842
Added ptp_lock_threshold
SakodaShintaro Feb 6, 2025
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3 changes: 3 additions & 0 deletions common_sensor_launch/launch/hesai_OT128.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,7 @@
<arg name="dual_return_distance_threshold" default="0.1"/>
<arg name="vehicle_mirror_param_file"/>
<arg name="container_name" default="hesai_node_container"/>
<arg name="udp_only" default="false"/>

<include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
<arg name="launch_driver" value="$(var launch_driver)"/>
Expand All @@ -36,6 +37,8 @@
<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="setup_sensor" value="true"/>
<arg name="udp_only" value="$(var udp_only)"/>
</include>
</launch>
3 changes: 3 additions & 0 deletions common_sensor_launch/launch/hesai_XT32.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,7 @@
<arg name="dual_return_distance_threshold" default="0.1"/>
<arg name="vehicle_mirror_param_file"/>
<arg name="container_name" default="hesai_node_container"/>
<arg name="udp_only" default="false"/>

<include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
<arg name="launch_driver" value="$(var launch_driver)"/>
Expand All @@ -37,7 +38,9 @@
<arg name="ptp_profile" value="automotive"/>
<arg name="ptp_switch_type" value="NON_TSN"/>
<arg name="ptp_transport_type" value="L2"/>
<arg name="ptp_lock_threshold" value="100"/>
<arg name="setup_sensor" value="true"/>
<arg name="udp_only" value="$(var udp_only)"/>
<arg name="retry_hw" value="true"/>
</include>
</launch>
4 changes: 4 additions & 0 deletions common_sensor_launch/launch/nebula_node_container.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -140,6 +140,7 @@ def create_parameter_dict(*args):
"rotation_speed",
"packet_mtu_size",
"setup_sensor",
"udp_only",
),
},
],
Expand Down Expand Up @@ -274,6 +275,7 @@ def create_parameter_dict(*args):
"ptp_transport_type",
"ptp_switch_type",
"ptp_domain",
"ptp_lock_threshold",
"retry_hw",
),
}
Expand Down Expand Up @@ -334,6 +336,7 @@ def add_launch_arg(name: str, default_value=None, description=None):
add_launch_arg("config_file", "", description="sensor configuration file")
add_launch_arg("launch_driver", "True", "do launch driver")
add_launch_arg("setup_sensor", "True", "configure sensor")
add_launch_arg("udp_only", "False", "use UDP only")
add_launch_arg("retry_hw", "false", "retry hw")
add_launch_arg("sensor_ip", "192.168.1.201", "device ip address")
add_launch_arg("host_ip", "255.255.255.255", "host ip address")
Expand All @@ -358,6 +361,7 @@ def add_launch_arg(name: str, default_value=None, description=None):
add_launch_arg("ptp_transport_type", "L2")
add_launch_arg("ptp_switch_type", "TSN")
add_launch_arg("ptp_domain", "0")
add_launch_arg("ptp_lock_threshold", "100")
add_launch_arg("output_as_sensor_frame", "True", "output final pointcloud in sensor frame")
add_launch_arg("enable_blockage_diag", "true")
add_launch_arg("horizontal_ring_id", "64")
Expand Down
2 changes: 2 additions & 0 deletions common_sensor_launch/launch/velodyne_VLP16.launch.xml
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Expand Up @@ -21,6 +21,7 @@
<arg name="is_channel_order_top2down" default="false"/>
<arg name="horizontal_resolution" default="0.4"/>
<arg name="enable_blockage_diag" default="true"/>
<arg name="udp_only" default="false"/>

<include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
<arg name="launch_driver" value="$(var launch_driver)"/>
Expand All @@ -44,6 +45,7 @@
<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="$(var enable_blockage_diag)"/>
<arg name="udp_only" value="$(var udp_only)"/>
</include>

<!-- Velodyne Monitor -->
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2 changes: 2 additions & 0 deletions common_sensor_launch/launch/velodyne_VLP32C.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,7 @@
<arg name="is_channel_order_top2down" default="false"/>
<arg name="horizontal_resolution" default="0.4"/>
<arg name="enable_blockage_diag" default="true"/>
<arg name="udp_only" default="false"/>

<include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
<arg name="launch_driver" value="$(var launch_driver)"/>
Expand All @@ -44,6 +45,7 @@
<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="$(var enable_blockage_diag)"/>
<arg name="udp_only" value="$(var udp_only)"/>
</include>

<!-- Velodyne Monitor -->
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2 changes: 2 additions & 0 deletions common_sensor_launch/launch/velodyne_VLS128.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,7 @@
<arg name="is_channel_order_top2down" default="false"/>
<arg name="horizontal_resolution" default="0.4"/>
<arg name="enable_blockage_diag" default="false"/>
<arg name="udp_only" default="false"/>

<include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
<arg name="launch_driver" value="$(var launch_driver)"/>
Expand All @@ -44,6 +45,7 @@
<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="$(var enable_blockage_diag)"/>
<arg name="udp_only" value="$(var udp_only)"/>
</include>

<!-- Velodyne Monitor -->
Expand Down
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