feat(aip_x2_gen2_launch): add sync_angle and cut angle (#339)

tier4 · Nov 6, 2024 · 8e112d4 · 8e112d4
1 parent b9668dd
commit 8e112d4
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Showing 2 changed files with 8 additions and 4 deletions.
diff --git a/aip_x2_gen2_launch/launch/hesai_OT128.launch.xml b/aip_x2_gen2_launch/launch/hesai_OT128.launch.xml
@@ -9,7 +9,8 @@
   <arg name="sensor_ip" default="192.168.1.201"/>
   <arg name="host_ip" default="255.255.255.255"/>
   <arg name="data_port" default="2368"/>
-  <arg name="scan_phase" default="0.0"/>
+  <arg name="sync_angle" default="0"/>
+  <arg name="cut_angle" default="0"/>
   <arg name="cloud_min_angle" default="90"/>
   <arg name="cloud_max_angle" default="270"/>
   <arg name="dual_return_distance_threshold" default="0.1"/>
@@ -40,7 +41,8 @@
     <arg name="sensor_ip" value="$(var sensor_ip)"/>
     <arg name="host_ip" value="$(var host_ip)"/>
     <arg name="data_port" value="$(var data_port)"/>
-    <arg name="scan_phase" value="$(var scan_phase)"/>
+    <arg name="sync_angle" value="$(var sync_angle)"/>
+    <arg name="cut_angle" value="$(var cut_angle)"/>
     <arg name="cloud_min_angle" value="$(var cloud_min_angle)"/>
     <arg name="cloud_max_angle" value="$(var cloud_max_angle)"/>
     <arg name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/>

diff --git a/aip_x2_gen2_launch/launch/hesai_QT128.launch.xml b/aip_x2_gen2_launch/launch/hesai_QT128.launch.xml
@@ -9,7 +9,8 @@
   <arg name="sensor_ip" default="192.168.1.201"/>
   <arg name="host_ip" default="255.255.255.255"/>
   <arg name="data_port" default="2368"/>
-  <arg name="scan_phase" default="0.0"/>
+  <arg name="sync_angle" default="0"/>
+  <arg name="cut_angle" default="0"/>
   <arg name="cloud_min_angle" default="0"/>
   <arg name="cloud_max_angle" default="360"/>
   <arg name="dual_return_distance_threshold" default="0.1"/>
@@ -41,7 +42,8 @@
     <arg name="sensor_ip" value="$(var sensor_ip)"/>
     <arg name="host_ip" value="$(var host_ip)"/>
     <arg name="data_port" value="$(var data_port)"/>
-    <arg name="scan_phase" value="$(var scan_phase)"/>
+    <arg name="sync_angle" value="$(var sync_angle)"/>
+    <arg name="cut_angle" value="$(var cut_angle)"/>
     <arg name="cloud_min_angle" value="$(var cloud_min_angle)"/>
     <arg name="cloud_max_angle" value="$(var cloud_max_angle)"/>
     <arg name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/>