diff --git a/nebula_ros/launch/nebula_launch.py b/nebula_ros/launch/nebula_launch.py index b394498fb..74d3eb475 100644 --- a/nebula_ros/launch/nebula_launch.py +++ b/nebula_ros/launch/nebula_launch.py @@ -41,8 +41,11 @@ def launch_setup(context, *args, **kwargs): # Model and make sensor_model = LaunchConfiguration("sensor_model").perform(context) calibration_file = LaunchConfiguration("calibration_file").perform(context) - correction_file = LaunchConfiguration("correction_file").perform(context) sensor_make, sensor_extension = get_sensor_make(sensor_model) + + if sensor_make.lower() == "hesai": + raise ValueError("\n `nebula_launch.py` is deprecated. For Hesai sensors, use `hesai_launch_all_hw.xml` instead.") + nebula_decoders_share_dir = get_package_share_directory("nebula_decoders") nebula_ros_share_dir = get_package_share_directory("nebula_ros") @@ -84,7 +87,6 @@ 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_corr_fp, "setup_sensor": LaunchConfiguration("setup_sensor"), "ptp_profile": LaunchConfiguration("ptp_profile"), "ptp_domain": LaunchConfiguration("ptp_domain"), @@ -110,7 +112,6 @@ 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_corr_fp, }, ], ) @@ -127,7 +128,6 @@ 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_corr_fp, "launch_hw": LaunchConfiguration("launch_hw"), "ptp_profile": LaunchConfiguration("ptp_profile"), "ptp_domain": LaunchConfiguration("ptp_domain"),