From d5deb74b39ba3a4e595e13e6fc8a6d0cc95718e4 Mon Sep 17 00:00:00 2001
From: Yuma Nihei <yuma.nihei@tier4.jp>
Date: Tue, 21 Feb 2023 14:54:53 +0900
Subject: [PATCH] feat(x1): update livox min range to 1.0m (#107)

* feat(x1): copy new_livox_horizon from common_sensor_launch

Signed-off-by: Yuma Nihei <yuma.nihei@tier4.jp>

* feat(x1): remove dependency on common_sensor_launch

Signed-off-by: Yuma Nihei <yuma.nihei@tier4.jp>

* feat(x1/livox): parameterize min_range to accommodate multiple hw variations

Signed-off-by: Yuma Nihei <yuma.nihei@tier4.jp>

* feat(x1/livox): update livox min range to 1.0m

Signed-off-by: Yuma Nihei <yuma.nihei@tier4.jp>

---------

Signed-off-by: Yuma Nihei <yuma.nihei@tier4.jp>
---
 aip_x1_launch/launch/lidar.launch.xml            | 6 ++++++
 aip_x1_launch/launch/new_livox_horizon.launch.py | 5 ++++-
 2 files changed, 10 insertions(+), 1 deletion(-)

diff --git a/aip_x1_launch/launch/lidar.launch.xml b/aip_x1_launch/launch/lidar.launch.xml
index 2e07b175..679ffeb8 100644
--- a/aip_x1_launch/launch/lidar.launch.xml
+++ b/aip_x1_launch/launch/lidar.launch.xml
@@ -7,6 +7,9 @@
   <arg name="use_pointcloud_container" default="false" description="launch pointcloud container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
 
+  <!-- x1 additional setting -->
+  <arg name="livox_min_range" default="1.0" />
+
   <group>
     <push-ros-namespace namespace="lidar"/>
 
@@ -28,6 +31,7 @@
         <include file="$(find-pkg-share aip_x1_launch)/launch/new_livox_horizon.launch.py">
           <arg name="launch_driver" value="$(var launch_driver)" />
           <arg name="lidar_config_file" value="$(find-pkg-share individual_params)/config/default/new_driver_livox_front_right_config.yaml" />
+          <arg name="min_range" value="$(var livox_min_range)" />
         </include>
       </group>
       <group>
@@ -35,6 +39,7 @@
         <include file="$(find-pkg-share aip_x1_launch)/launch/new_livox_horizon.launch.py">
           <arg name="launch_driver" value="$(var launch_driver)" />
           <arg name="lidar_config_file" value="$(find-pkg-share individual_params)/config/default/new_driver_livox_front_center_config.yaml" />
+          <arg name="min_range" value="$(var livox_min_range)" />
 	      </include>
       </group>
       <group>
@@ -42,6 +47,7 @@
         <include file="$(find-pkg-share aip_x1_launch)/launch/new_livox_horizon.launch.py">
           <arg name="launch_driver" value="$(var launch_driver)" />
           <arg name="lidar_config_file" value="$(find-pkg-share individual_params)/config/default/new_driver_livox_front_left_config.yaml" />
+          <arg name="min_range" value="$(var livox_min_range)" />
 	      </include>
       </group>
     </group>
diff --git a/aip_x1_launch/launch/new_livox_horizon.launch.py b/aip_x1_launch/launch/new_livox_horizon.launch.py
index b887159f..de3f8b9a 100644
--- a/aip_x1_launch/launch/new_livox_horizon.launch.py
+++ b/aip_x1_launch/launch/new_livox_horizon.launch.py
@@ -59,7 +59,7 @@ def get_crop_box_min_range_component(context, livox_frame_id):
                 "input_frame": livox_frame_id,
                 "output_frame": LaunchConfiguration("base_frame"),
                 "min_x": 0.0,
-                "max_x": 1.5,
+                "max_x": LaunchConfiguration("min_range"),
                 "min_y": -2.0,
                 "max_y": 2.0,
                 "min_z": -2.0,
@@ -121,4 +121,7 @@ def add_launch_arg(name: str, default_value=None):
     add_launch_arg("use_tag_filter", "true")
     add_launch_arg("lidar_config_file")
 
+    # x1 additional setting
+    add_launch_arg("min_range", "1.5")
+
     return launch.LaunchDescription(launch_arguments + [OpaqueFunction(function=launch_setup)])