From 2dc057f66fb2479dd69dea43b1da6224f8d47a1c Mon Sep 17 00:00:00 2001
From: Shinnosuke Hirakawa <8327162+0x126@users.noreply.github.com>
Date: Wed, 9 Aug 2023 11:32:43 +0900
Subject: [PATCH] chore(aip_x2_launch): expand cropbox area (#165)

---
 aip_x2_launch/launch/pandar_node_container.launch.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/aip_x2_launch/launch/pandar_node_container.launch.py b/aip_x2_launch/launch/pandar_node_container.launch.py
index 68b79b41..898ec8a1 100644
--- a/aip_x2_launch/launch/pandar_node_container.launch.py
+++ b/aip_x2_launch/launch/pandar_node_container.launch.py
@@ -62,7 +62,7 @@ def get_vehicle_info(context):
     p["max_longitudinal_offset"] = gp["front_overhang"] + gp["wheel_base"]
     p["min_lateral_offset"] = -(gp["wheel_tread"] / 2.0 + gp["right_overhang"])
     p["max_lateral_offset"] = gp["wheel_tread"] / 2.0 + gp["left_overhang"]
-    p["min_height_offset"] = 0.0
+    p["min_height_offset"] = -0.3  # margin to crop pointcloud under vehicle
     p["max_height_offset"] = gp["vehicle_height"]
     return p