fix(aip_xx1_launcher): fix with ars408.launch.xml (#155)

* fix(aip_xx1_launcher): fix with ars408.launch.xml Signed-off-by: scepter914 <[email protected]> * ci(pre-commit): autofix * fix moving socket can to ars408.xml Signed-off-by: scepter914 <[email protected]> * fix bug Signed-off-by: scepter914 <[email protected]> * remove radar mode switching Signed-off-by: scepter914 <[email protected]> * Update aip_xx1_launch/launch/radar.launch.xml Co-authored-by: Shunsuke Miura <[email protected]> * fix bug Signed-off-by: scepter914 <[email protected]> --------- Signed-off-by: scepter914 <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shunsuke Miura <[email protected]>
tier4 · Jul 20, 2023 · 5b566fd · 5b566fd
1 parent 7e52c1e
commit 5b566fd
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Showing 3 changed files with 11 additions and 16 deletions.
diff --git a/aip_xx1_launch/launch/radar.launch.xml b/aip_xx1_launch/launch/radar.launch.xml
@@ -1,7 +1,6 @@
 <launch>
   <arg name="launch_driver" default="true" />
   <arg name="input/frame" default="from_can_bus" />
-  <arg name="output/objects" default="objects_raw" />
   <arg name="radar_can_device" default="canRadar" />
 
   <group>
@@ -10,24 +9,18 @@
     <group>
       <push-ros-namespace namespace="front_center"/>
 
-      <!-- socket can -->
-      <group>
-        <include file="$(find-pkg-share pacmod3)/launch/pacmod3.launch.xml">
-          <arg name="use_socketcan" value="true" />
-          <arg name="socketcan_device" value="$(var radar_can_device)" />
-          <arg name="namespace" value="" />>
-        </include>
-      </group>
-
       <!-- tf launch (temporary) -->
-      <node pkg="tf2_ros" exec="static_transform_publisher" name="base_link_to_ars408" output="screen" args="3.8 0.0 0.0 0.0 0.0 0.0 base_link ars408" />
+      <node pkg="tf2_ros" exec="static_transform_publisher" name="base_link_to_ars408" output="screen" args="3.8 0.0 0.0 0.0 0.0 0.0 base_link ars408_front_center" />
 
-      <include file="$(find-pkg-share pe_ars408_ros)/launch/continental_ars408.launch.xml">
-        <arg name="input/frame" value="$(var input/frame)" />
-        <arg name="output/objects" value="$(var output/objects)" />
+      <include file="$(find-pkg-share common_sensor_launch)/launch/ars408.launch.xml">
         <arg name="launch_driver" value="$(var launch_driver)" />
+        <arg name="interface" value="$(var radar_can_device)" />
+        <arg name="input/frame" value="$(var input/frame)" />
+        <arg name="output_frame" value="ars408_front_center" />
       </include>
-
     </group>
+
+    <node pkg="topic_tools" exec="relay" name="radar_relay" output="log" args="front_center/detected_objects detected_objects"/>
+
   </group>
 </launch>
diff --git a/aip_xx1_launch/launch/sensing.launch.xml b/aip_xx1_launch/launch/sensing.launch.xml
@@ -32,7 +32,7 @@
     </include>
 
     <!-- Radar Driver -->
-    <include file="$(find-pkg-share aip_xx1_launch)/launch/radar.launch.xml" if="$(eval '&quot;$(var perception_mode)&quot;==&quot;camera_lidar_radar_fusion&quot;')">
+    <include file="$(find-pkg-share aip_xx1_launch)/launch/radar.launch.xml">
       <arg name="launch_driver" value="$(var launch_driver)" />
     </include>
 

diff --git a/common_sensor_launch/launch/ars408.launch.xml b/common_sensor_launch/launch/ars408.launch.xml
@@ -1,4 +1,6 @@
 <launch>
+  <arg name="launch_driver" default="true" />
+
   <!-- socket can interface parameter -->
   <arg name="interface" default="can0" />
   <arg name="receiver_interval_sec" default="0.01"/>