fix: set VLP16 effective angle range in XX1 launcher (#139)

fix: set vlp16 angle range and distance range Signed-off-by: badai-nguyen <[email protected]>
tier4 · May 19, 2023 · 51fdaa1 · 51fdaa1
1 parent 27111dc
commit 51fdaa1
Showing 1 changed file with 8 additions and 2 deletions.
diff --git a/aip_xx1_launch/launch/lidar.launch.xml b/aip_xx1_launch/launch/lidar.launch.xml
@@ -28,11 +28,13 @@
     <group>
       <push-ros-namespace namespace="left"/>
       <include file="$(find-pkg-share common_sensor_launch)/launch/velodyne_VLP16.launch.xml">
-        <arg name="max_range" value="15.0" />
+        <arg name="max_range" value="5.0" />
         <arg name="sensor_frame" value="velodyne_left" />
         <arg name="device_ip" value="192.168.1.202"/>
         <arg name="port" value="2369"/>
         <arg name="scan_phase" value="180.0" />
+        <arg name="view_direction" value="0.0" />
+        <arg name="view_width" value="1.9" />
         <arg name="launch_driver" value="$(var launch_driver)" />
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
         <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
@@ -43,11 +45,13 @@
     <group>
       <push-ros-namespace namespace="right"/>
       <include file="$(find-pkg-share common_sensor_launch)/launch/velodyne_VLP16.launch.xml">
-        <arg name="max_range" value="15.0" />
+        <arg name="max_range" value="5.0" />
         <arg name="sensor_frame" value="velodyne_right" />
         <arg name="device_ip" value="192.168.1.203"/>
         <arg name="port" value="2370"/>
         <arg name="scan_phase" value="180.0" />
+        <arg name="view_direction" value="0.0" />
+        <arg name="view_width" value="1.9" />
         <arg name="launch_driver" value="$(var launch_driver)" />
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
         <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
@@ -63,6 +67,8 @@
         <arg name="device_ip" value="192.168.1.204"/>
         <arg name="port" value="2371"/>
         <arg name="scan_phase" value="180.0" />
+        <arg name="view_direction" value="0.0" />
+        <arg name="view_width" value="1.9" />
         <arg name="launch_driver" value="$(var launch_driver)" />
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
         <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />