diff --git a/aip_x2_gen2_description/config/sensor_kit_calibration.yaml b/aip_x2_gen2_description/config/sensor_kit_calibration.yaml
index 4a37420d..de6d1c33 100644
--- a/aip_x2_gen2_description/config/sensor_kit_calibration.yaml
+++ b/aip_x2_gen2_description/config/sensor_kit_calibration.yaml
@@ -1,173 +1,173 @@
sensor_kit_base_link:
# left upper
left_upper/lidar_base_link:
- x: 0.0
- y: 0.0
- z: 0.0
- roll: 0.0
- pitch: 0.0
- yaw: 3.141592 # 180 [deg] to turn the connector toward the vehicle
+ x: 0.0 #####
+ y: 0.0 #####
+ z: 0.0 #####
+ roll: 0.0 #####
+ pitch: 0.0 #####
+ yaw: 3.141592 # 180 [deg] to turn the connector toward the vehicle #####
left_lower/lidar_base_link:
- x: 0.0
- y: -0.025
- z: -0.115
- roll: 0.6981 # 40[deg]
- pitch: 0.0
- yaw: 3.141592 # 180 [deg] to turn the connector toward the vehicle
+ x: 0.0 #####
+ y: -0.029 #####
+ z: -0.264 #####
+ roll: 0.6981 # 40[deg] #####
+ pitch: 0.0 #####
+ yaw: 3.141592 # 180 [deg] to turn the connector toward the vehicle #####
left_front/camera_link:
- x: 0.12758
- y: -0.04589
- z: -0.0866
- roll: 0.0
- pitch: 0.08722 # 5 [deg]
- yaw: 0.85478 # 49 [deg]
+ x: 0.128 #####
+ y: -0.0201 #####
+ z: -0.1560 #####
+ roll: 0.0 #####
+ pitch: 0.08722 # 5 [deg] #####
+ yaw: 0.85478 # 49 [deg] #####
left_rear/camera_link:
- x: -0.12842
- y: -0.04589
- z: -0.0866
- roll: 0.0
- pitch: 0.08722 # 5 [deg]
- yaw: 2.2678 # 130 [deg]
+ x: -0.128 #####
+ y: -0.0201 #####
+ z: -0.156 #####
+ roll: 0.0 #####
+ pitch: 0.08722 # 5 [deg] #####
+ yaw: 2.2678 # 130 [deg] #####
left_center/camera_link:
- x: 0.0
- y: -0.04089
- z: -0.18666
- roll: 0.0
- pitch: 0.933278 # 53.50 [deg]
- yaw: 1.570796 # 90 [deg]
+ x: 0.0 #####
+ y: -0.0 #####
+ z: -0.401 #####
+ roll: 0.0 #####
+ pitch: 0.933278 # 53.50 [deg] #####
+ yaw: 1.570796 # 90 [deg] #####
# right upper
right_upper/lidar_base_link:
- x: 0.0
- y: -2.15178
- z: 0.0
- roll: 0.0
- pitch: 0.0
- yaw: 0.0 # to turn the connector toward the vehicle
+ x: 0.0 #####
+ y: -2.440 #####
+ z: 0.0 #####
+ roll: 0.0 #####
+ pitch: 0.0 #####
+ yaw: 0.0 # to turn the connector toward the vehicle #####
right_lower/lidar_base_link:
- x: 0.0
- y: -2.12678
- z: -0.115
- roll: 0.6981 # 40 [deg]
- pitch: 0.0
- yaw: 0.0 # to turn the connector toward the vehicle
+ x: 0.0 #####
+ y: -2.411 #####
+ z: -0.264 #####
+ roll: 0.6981 # 40 [deg] #####
+ pitch: 0.0 #####
+ yaw: 0.0 # to turn the connector toward the vehicle #####
right_front/camera_link:
- x: 0.12758
- y: -2.10589
- z: -0.0866
- roll: 0.0
- pitch: 0.08722 # 5 [deg]
- yaw: -0.85478 # -49 [deg]
+ x: 0.128 #####
+ y: -2.46 #####
+ z: -0.156 #####
+ roll: 0.0 #####
+ pitch: 0.08722 # 5 [deg] #####
+ yaw: -0.85478 # -49 [deg] #####
right_rear/camera_link:
- x: -0.12842
- y: -2.10589
- z: -0.0866
- roll: 0.0
- pitch: 0.08722 # 5 [deg]
- yaw: -2.2678 # -130 [deg]
+ x: -0.128 #####
+ y: -2.46 #####
+ z: -0.156 #####
+ roll: 0.0 #####
+ pitch: 0.08722 # 5 [deg] #####
+ yaw: -2.2678 # -130 [deg] #####
right_center/camera_link:
- x: 0.0
- y: -2.11089
- z: -0.18666
- roll: 0.0
- pitch: 0.933278 # 53.50 [deg]
- yaw: -1.570796 # -90 [deg]
+ x: 0.0 #####
+ y: -2.44 #####
+ z: -0.401 #####
+ roll: 0.0 #####
+ pitch: 0.933278 # 53.50 [deg] #####
+ yaw: -1.570796 # -90 [deg] #####
# front upper
top_front_left/imu_link:
- x: 0.562
- y: -0.99974
- z: -0.06146
- roll: 3.141592
- pitch: 0.0
- yaw: 0.0
+ x: 0.4124 #####
+ y: -1.1448 #####
+ z: -0.3098 #####
+ roll: 3.141592 #####
+ pitch: 0.0 #####
+ yaw: 0.0 #####
top_front_right/imu_link:
- x: 0.562
- y: -1.13974
- z: -0.06146
- roll: 3.141592
- pitch: 0.0
- yaw: 0.0
+ x: 0.4124 #####
+ y: -1.2839 #####
+ z: -0.3098 #####
+ roll: 3.141592 #####
+ pitch: 0.0 #####
+ yaw: 0.0 #####
top_front_right/camera_link:
- x: 0.73758
- y: -1.26439
- z: -0.06666
- roll: 0.0
- pitch: 0.8373 # 48 [deg]
- yaw: 0.0
+ x: 0.7266 #####
+ y: -1.2577 #####
+ z: -0.3275 #####
+ roll: 0.0 #####
+ pitch: 0.9075 # 52 [deg] #####
+ yaw: 0.0 #####
top_front_center_right/camera_link:
- x: 0.73058
- y: -1.18899
- z: -0.02166
- roll: 0.0
- pitch: 0.0
- yaw: 0.0
+ x: 0.746 #####
+ y: -1.3331 #####
+ z: -0.271 #####
+ roll: 0.0 #####
+ pitch: 0.0 #####
+ yaw: 0.0 #####
top_front_center_left/camera_link:
- x: 0.73058
- y: -1.03819
- z: -0.02166
- roll: 0.0
- pitch: 0.0
- yaw: 0.0
+ x: 0.746 #####
+ y: -1.1823 #####
+ z: -0.271 #####
+ roll: 0.0 #####
+ pitch: 0.0 #####
+ yaw: 0.0 #####
top_front_left/camera_link:
- x: 0.73058
- y: -0.96279
- z: -0.02166
- roll: 0.0
- pitch: 0.0
- yaw: 0.0
+ x: 0.746 #####
+ y: -1.1069 #####
+ z: -0.271 #####
+ roll: 0.0 #####
+ pitch: 0.0 #####
+ yaw: 0.0 #####
top_front/gnss_link:
- x: 0.30133
- y: -1.07589
- z: 0.02861
- roll: 0.0
- pitch: 0.0
- yaw: 0.0
+ x: 0.0167 #####
+ y: -1.220 #####
+ z: -0.0193 #####
+ roll: 0.0 #####
+ pitch: 0.0 #####
+ yaw: 0.0 #####
# rear upper
top_rear_center/camera_link:
- x: -6.06359
- y: -1.20389
- z: -0.14078
- roll: 0.0
- pitch: 0.0
- yaw: 3.141592 # 180 [deg] to turn the connector toward the vehicle
+ x: -10.086 #####
+ y: -1.3399 #####
+ z: -0.329 #####
+ roll: 0.0 #####
+ pitch: 0.933278 # 53.50 [deg] #####
+ yaw: 3.141592 # 180 [deg] to turn the connector toward the vehicle #####
top_rear/gnss_link:
- x: -5.77517
- y: -1.07589
- z: 0.02861
- roll: 0.0
- pitch: 0.0
- yaw: 0.0
+ x: -7.3618 #####
+ y: -1.220 #####
+ z: -0.0193 #####
+ roll: 0.0 #####
+ pitch: 0.0 #####
+ yaw: 0.0 #####
# front lower
front_upper/lidar_base_link:
- x: 0.94058
- y: -1.07589
- z: -1.91826
- roll: 0.0
- pitch: 0.0
- yaw: 1.570796 # 90 [deg] to turn the connector toward the vehicle
+ x: 1.0411 #####
+ y: -1.220 #####
+ z: -2.4572 #####
+ roll: 0.0 #####
+ pitch: 0.0 #####
+ yaw: 1.570796 # 90 [deg] to turn the connector toward the vehicle #####
front_lower/lidar_base_link:
- x: 0.96758
- y: -1.07589
- z: -2.15234
- roll: 0.6981 # 40[deg]
- pitch: 0.0
- yaw: 1.570796 # 90 [deg] to turn the connector toward the vehicle
+ x: 1.0141 #####
+ y: -1.220 #####
+ z: -2.6913 #####
+ roll: 0.6981 # 40[deg] #####
+ pitch: 0.0 #####
+ yaw: 1.570796 # 90 [deg] to turn the connector toward the vehicle #####
# rear lower
rear_upper/lidar_base_link:
- x: -6.08042
- y: -1.07589
- z: -1.91826
- roll: 0.0
- pitch: 0.0
+ x: -10.1440 #####
+ y: -1.220 #####
+ z: -0.16 #####
+ roll: 0.0 #####
+ pitch: 0.0 #####
yaw: -1.570796 # 90 [deg] to turn the connector toward the vehicle
rear_lower/lidar_base_link:
- x: -6.10742
- y: -1.07589
- z: -2.15234
+ x: -10.1190 #####
+ y: -1.220 #####
+ z: -0.275 #####
roll: 0.6981 # 40[deg]
- pitch: 0.0
- yaw: -1.570796 # 90 [deg] to turn the connector toward the vehicle
+ pitch: 0.0 #####
+ yaw: -1.570796 # 90 [deg] to turn the connector toward the vehicle #####
diff --git a/aip_x2_gen2_description/config/sensors_calibration.yaml b/aip_x2_gen2_description/config/sensors_calibration.yaml
index 1b5105f0..43c7f30f 100644
--- a/aip_x2_gen2_description/config/sensors_calibration.yaml
+++ b/aip_x2_gen2_description/config/sensors_calibration.yaml
@@ -1,57 +1,57 @@
base_link:
sensor_kit_base_link:
- x: 4.66244
- y: 1.07589
- z: 2.78926
+ x: 7.3618
+ y: 1.2200
+ z: 3.1790
roll: 0.0
pitch: 0.0
yaw: 0.0
# radar
front_center/radar_link:
- x: 5.69207
+ x: 8.4640
y: 0.0
- z: 0.78894
+ z: 0.6398
roll: 0.0
pitch: 0.0
yaw: 0.0
front_left/radar_link:
- x: 5.37204
- y: 1.08537
- z: 0.73431
+ x: 8.0452
+ y: 1.2444
+ z: 0.5947
roll: 0.0
pitch: 0.0
yaw: 1.2211 # 70 [deg]
front_right/radar_link:
- x: 5.37204
- y: -1.06642
- z: 0.73431
+ x: 8.0452
+ y: -1.2444
+ z: 0.5947
roll: 0.0
pitch: 0.0
yaw: -1.2211 # 70 [deg]
rear_center/radar_link:
- x: -1.50704
+ x: -2.7802
y: 0.0
- z: 0.78894
+ z: 0.8283
roll: 0.0
pitch: 0.0
yaw: 3.141592 # 180 [deg]
rear_left/radar_link:
- x: -1.27564
- y: 1.07767
- z: 0.5487
+ x: -2.5859
+ y: 1.2417
+ z: 0.7591
roll: 0.0
pitch: 0.0
yaw: 1.9189 # 110 [deg]
rear_right/radar_link:
- x: -1.27564
- y: -1.07768
- z: 0.5487
+ x: -2.5859
+ y: -1.2417
+ z: 0.7591
roll: 0.0
pitch: 0.0
yaw: -1.9189 # 110 [deg]
diff --git a/aip_x2_gen2_launch/config/ARS548.param.yaml b/aip_x2_gen2_launch/config/ARS548.param.yaml
index 1fe5e7e2..0c393b2e 100644
--- a/aip_x2_gen2_launch/config/ARS548.param.yaml
+++ b/aip_x2_gen2_launch/config/ARS548.param.yaml
@@ -11,7 +11,7 @@
configuration_host_port: 42401
configuration_sensor_port: 42101
use_sensor_time: false
- configuration_vehicle_length: 7.2369
- configuration_vehicle_width: 2.2916
- configuration_vehicle_height: 3.08
- configuration_vehicle_wheelbase: 4.76012
+ configuration_vehicle_length: 11.130
+ configuration_vehicle_width: 2.485
+ configuration_vehicle_height: 3.045
+ configuration_vehicle_wheelbase: 6.000
diff --git a/aip_x2_gen2_launch/config/point_filters/default/point_filters_left_upper.param.yaml b/aip_x2_gen2_launch/config/point_filters/default/point_filters_left_upper.param.yaml
deleted file mode 100644
index 1d5d525b..00000000
--- a/aip_x2_gen2_launch/config/point_filters/default/point_filters_left_upper.param.yaml
+++ /dev/null
@@ -1,47 +0,0 @@
-/**:
- ros__parameters:
- point_filters: |
- {
- "ring_section_filter": [
- [15, 143.95, 147.1],
- [72, 319, 322],
- [73, 318, 323],
- [74, 318, 323],
- [75, 318, 323],
- [76, 318, 324],
- [77, 318, 325],
- [77, 318, 325],
- [78, 318, 325],
- [79, 318, 325],
- [80, 318, 325],
- [81, 318, 325],
- [82, 318, 325],
- [83, 318, 325],
- [84, 319, 325],
- [85, 319, 325],
- [86, 319, 325],
- [87, 320, 325],
- [88, 321, 325],
- [89, 322, 323],
-
- [91, 287.55, 289.90],
- [92, 287.55, 289.75],
- [109, 314.74, 316.74],
- [110, 312.74, 317.34],
- [111, 312.73, 315.93],
- [112, 308.48, 313.28],
- [113, 305.68, 312.28],
- [114, 308.58, 310.58],
- [117, 305.77, 313.77],
- [118, 303.81, 308.53],
- [119, 302.09, 307.53],
- [120, 298.42, 307.63],
- [121, 299.63, 312.03],
- [122, 298.42, 310.02],
- [123, 298.42, 310.22],
- [124, 298.16, 308.76],
- [125, 295.94, 307.54],
- [126, 292.12, 303.92],
- [127, 289.71, 297.31]
- ]
- }
diff --git a/aip_x2_gen2_launch/config/point_filters/default/point_filters_right_upper.param.yaml b/aip_x2_gen2_launch/config/point_filters/default/point_filters_right_upper.param.yaml
deleted file mode 100644
index d47a15dd..00000000
--- a/aip_x2_gen2_launch/config/point_filters/default/point_filters_right_upper.param.yaml
+++ /dev/null
@@ -1,42 +0,0 @@
-/**:
- ros__parameters:
- point_filters: |
- {
- "ring_section_filter": [
- [71, 36, 39],
- [72, 36, 39],
- [73, 36, 39],
- [74, 36, 41],
- [75, 36, 41],
- [76, 36, 41],
- [77, 34, 41],
- [77, 34, 41],
- [78, 33, 41],
- [79, 33, 41],
- [80, 33, 41],
- [81, 33, 41],
- [82, 33, 41],
- [83, 33, 41],
- [84, 33, 40],
- [85, 33, 40],
- [86, 33, 39],
- [87, 33, 39],
- [88, 34, 37],
- [88, 36, 37],
- [88, 35, 37],
-
- [110, 43.17, 45.17],
- [110, 87.78, 89.97],
- [117, 49.80, 51.80],
- [118, 49.60, 51.60],
- [119, 50.40, 52.60],
- [120, 49.28, 52.88],
- [121, 46.08, 55.08],
- [122, 48.07, 56.87],
- [123, 48.07, 58.67],
- [124, 51.80, 60.20],
- [125, 50.98, 63.58],
- [126, 52.56, 65.76],
- [127, 58.57, 69.17]
- ]
- }
diff --git a/aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_full.param.yaml b/aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_full.param.yaml
index cd534e3a..7ff58606 100644
--- a/aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_full.param.yaml
+++ b/aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_full.param.yaml
@@ -2,43 +2,4 @@
ros__parameters:
point_filters: |
{
- "ring_section_filter": [
- [0, 0, 128], [0, 232,360],
- [1, 0, 128], [1, 236,360],
- [2, 0, 125], [2, 238,360],
- [3, 0, 123], [3, 240,360],
- [4, 0, 121], [4, 242,360],
- [5, 0, 121], [5, 242,360],
- [6, 0, 120], [6, 246,360],
- [7, 0, 120], [7, 246,360],
- [8, 0, 120], [8, 248,360],
- [9, 0, 115], [9, 248,360],
- [10, 0, 115], [10, 250,360],
- [11, 0, 115], [11, 250,360],
- [12, 0, 115], [12, 252,360],
- [13, 0, 110], [13, 252,360],
- [14, 0, 108], [14, 252,360],
- [15, 0, 108], [15, 252,360],
- [16, 0, 108], [16, 252,360],
- [17, 0, 108], [17, 252,360],
- [18, 0, 106], [18, 254,360],
- [19, 0, 106], [19, 254,360],
- [20, 0, 105], [20, 258,360],
- [21, 0, 105], [21, 258,360],
- [22, 0, 105], [22, 260,360],
- [23, 0, 105], [23, 260,360],
- [24, 0, 103], [24, 260,360],
- [25, 0, 103], [25, 260,360],
- [26, 0, 100], [26, 260,360],
- [27, 0, 100], [27, 260,360],
- [28, 0, 100], [28, 260,360],
- [29, 0, 100], [29, 260,360],
- [30, 0, 94], [30, 266,360],
- [31, 0, 94], [31, 266,360],
- [32, 0, 94], [32, 266,360],
- [33, 0, 94], [33, 266,360],
- [34, 0, 94], [34, 266,360],
- [35, 0, 94], [35, 266,360],
- [36, 0, 94], [36, 266,360]
- ]
}
diff --git a/aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_one_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_one_third.param.yaml
index f0607ac6..075381cc 100644
--- a/aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_one_third.param.yaml
+++ b/aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_one_third.param.yaml
@@ -3,43 +3,6 @@
point_filters: |
{
"ring_section_filter": [
- [0, 0, 128], [0, 232,360],
- [1, 0, 128], [1, 236,360],
- [2, 0, 125], [2, 238,360],
- [3, 0, 123], [3, 240,360],
- [4, 0, 121], [4, 242,360],
- [5, 0, 121], [5, 242,360],
- [6, 0, 120], [6, 246,360],
- [7, 0, 120], [7, 246,360],
- [8, 0, 120], [8, 248,360],
- [9, 0, 115], [9, 248,360],
- [10, 0, 115], [10, 250,360],
- [11, 0, 115], [11, 250,360],
- [12, 0, 115], [12, 252,360],
- [13, 0, 110], [13, 252,360],
- [14, 0, 108], [14, 252,360],
- [15, 0, 108], [15, 252,360],
- [16, 0, 108], [16, 252,360],
- [17, 0, 108], [17, 252,360],
- [18, 0, 106], [18, 254,360],
- [19, 0, 106], [19, 254,360],
- [20, 0, 105], [20, 258,360],
- [21, 0, 105], [21, 258,360],
- [22, 0, 105], [22, 260,360],
- [23, 0, 105], [23, 260,360],
- [24, 0, 103], [24, 260,360],
- [25, 0, 103], [25, 260,360],
- [26, 0, 100], [26, 260,360],
- [27, 0, 100], [27, 260,360],
- [28, 0, 100], [28, 260,360],
- [29, 0, 100], [29, 260,360],
- [30, 0, 94], [30, 266,360],
- [31, 0, 94], [31, 266,360],
- [32, 0, 94], [32, 266,360],
- [33, 0, 94], [33, 266,360],
- [34, 0, 94], [34, 266,360],
- [35, 0, 94], [35, 266,360],
- [36, 0, 94], [36, 266,360],
[1, 0, 360],
[2, 0, 360],
[4, 0, 360],
diff --git a/aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_two_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_two_third.param.yaml
index dc4e10a9..45a57f55 100644
--- a/aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_two_third.param.yaml
+++ b/aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_two_third.param.yaml
@@ -3,43 +3,6 @@
point_filters: |
{
"ring_section_filter": [
- [0, 0, 128], [0, 232,360],
- [1, 0, 128], [1, 236,360],
- [2, 0, 125], [2, 238,360],
- [3, 0, 123], [3, 240,360],
- [4, 0, 121], [4, 242,360],
- [5, 0, 121], [5, 242,360],
- [6, 0, 120], [6, 246,360],
- [7, 0, 120], [7, 246,360],
- [8, 0, 120], [8, 248,360],
- [9, 0, 115], [9, 248,360],
- [10, 0, 115], [10, 250,360],
- [11, 0, 115], [11, 250,360],
- [12, 0, 115], [12, 252,360],
- [13, 0, 110], [13, 252,360],
- [14, 0, 108], [14, 252,360],
- [15, 0, 108], [15, 252,360],
- [16, 0, 108], [16, 252,360],
- [17, 0, 108], [17, 252,360],
- [18, 0, 106], [18, 254,360],
- [19, 0, 106], [19, 254,360],
- [20, 0, 105], [20, 258,360],
- [21, 0, 105], [21, 258,360],
- [22, 0, 105], [22, 260,360],
- [23, 0, 105], [23, 260,360],
- [24, 0, 103], [24, 260,360],
- [25, 0, 103], [25, 260,360],
- [26, 0, 100], [26, 260,360],
- [27, 0, 100], [27, 260,360],
- [28, 0, 100], [28, 260,360],
- [29, 0, 100], [29, 260,360],
- [30, 0, 94], [30, 266,360],
- [31, 0, 94], [31, 266,360],
- [32, 0, 94], [32, 266,360],
- [33, 0, 94], [33, 266,360],
- [34, 0, 94], [34, 266,360],
- [35, 0, 94], [35, 266,360],
- [36, 0, 94], [36, 266,360],
[0, 0, 360],
[3, 0, 360],
[6, 0, 360],
diff --git a/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_full.param.yaml b/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_full.param.yaml
index 9ba6571d..c6f269aa 100644
--- a/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_full.param.yaml
+++ b/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_full.param.yaml
@@ -2,102 +2,4 @@
ros__parameters:
point_filters: |
{
- "ring_section_filter": [
- [0, 0, 93],[0, 266, 360],
- [1, 0, 93],[1, 266, 360],
- [2, 0, 93],[2, 266, 360],
- [3, 0, 93],[3, 266, 360],
- [4, 268, 360],
- [5, 268, 360],
- [6, 268, 360],
- [7, 268, 360],
- [8, 268, 360],
- [10, 272, 360],
- [11, 272, 360],
- [12, 272, 360],
- [13, 272, 360],
- [14, 266, 360],
- [15, 266, 360],
- [16, 266, 360],
- [17, 0, 96],[17, 266, 360],
- [18, 0, 96],[18, 263, 360],
- [19, 0, 96],[19, 263, 360],
- [20, 0, 96],[20, 263, 360],
- [21, 0, 96],[21, 263, 360],
- [22, 270, 360],
- [23, 270, 360],
- [24, 270, 360],
- [29, 0, 96],
- [30, 0, 96],[30, 267, 360],
- [31, 0, 96],[31, 267, 360],
- [32, 0, 96],[32, 267, 360],
- [33, 0, 96],
- [38, 272, 360],
- [45, 0, 93],[45, 267, 360],
- [50, 0, 98],
- [51, 0, 98],
- [52, 0, 98],
- [53, 0, 98],
- [54, 0, 98],
- [57, 0, 93],
- [58, 0, 93],[58, 261, 360],
- [59, 0, 93],[59, 261, 360],
- [60, 0, 93],[60, 261, 360],
- [61, 0, 93],
- [72, 269, 360],
- [73, 0, 88],[73, 269, 360],
- [74, 0, 88],[74, 269, 360],
- [75, 0, 90],
- [76, 0, 94],
- [77, 0, 94],
- [78, 0, 94],
- [79, 0, 94],
- [80, 0, 94],
- [81, 0, 90],
- [82, 0, 90],
- [83, 0, 90],
- [84, 0, 88],
- [85, 0, 88],
- [86, 0, 88],
- [88, 273, 360],
- [89, 273, 360],
- [90, 273, 360],
- [91, 0, 93],[91, 273, 360],
- [92, 0, 93],[92, 268, 360],
- [93, 0, 93],[93, 273, 360],
- [94, 0, 93],[94, 273, 360],
- [95, 0, 93],[95, 273, 360],
- [96, 0, 93],[96, 273, 360],
- [97, 0, 93],[97, 273, 360],
- [98, 0, 93],[98, 273, 360],
- [99, 0, 93],[99, 273, 360],
- [100, 0, 93.5],[100, 273, 360],
- [101, 273, 360],
- [102, 273, 360],
- [103, 274, 360],
- [104, 274, 360],
- [105, 275, 360],
- [106, 0, 95],[106, 275, 360],
- [107, 0, 95],[107, 275, 360],
- [108, 0, 95],[108, 275, 360],
- [109, 0, 95],
- [110, 0, 95],
- [111, 0, 90],
- [112, 0, 93],
- [113, 0, 93],
- [114, 0, 93],
- [115, 0, 93],
- [116, 0, 93],
- [117, 0, 93],
- [118, 0, 96],[118, 265, 360],
- [119, 0, 96],[119, 265, 360],
- [120, 0, 98],[120, 265, 360],
- [121, 0, 98],[121, 265, 360],
- [122, 0, 98],[122, 258, 360],
- [123, 0, 98],[123, 258, 360],
- [124, 0, 98],[124, 258, 360],
- [125, 0, 100],[125, 256, 360],
- [126, 0, 100],[126, 256, 360],
- [127, 0, 100],[127, 256, 360]
- ]
- }
+ }
\ No newline at end of file
diff --git a/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_one_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_one_third.param.yaml
index 70496d1e..075381cc 100644
--- a/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_one_third.param.yaml
+++ b/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_one_third.param.yaml
@@ -3,102 +3,6 @@
point_filters: |
{
"ring_section_filter": [
- [0, 0, 93],[0, 266, 360],
- [1, 0, 93],[1, 266, 360],
- [2, 0, 93],[2, 266, 360],
- [3, 0, 93],[3, 266, 360],
- [4, 268, 360],
- [5, 268, 360],
- [6, 268, 360],
- [7, 268, 360],
- [8, 268, 360],
- [10, 272, 360],
- [11, 272, 360],
- [12, 272, 360],
- [13, 272, 360],
- [14, 266, 360],
- [15, 266, 360],
- [16, 266, 360],
- [17, 0, 96],[17, 266, 360],
- [18, 0, 96],[18, 263, 360],
- [19, 0, 96],[19, 263, 360],
- [20, 0, 96],[20, 263, 360],
- [21, 0, 96],[21, 263, 360],
- [22, 270, 360],
- [23, 270, 360],
- [24, 270, 360],
- [29, 0, 96],
- [30, 0, 96],[30, 267, 360],
- [31, 0, 96],[31, 267, 360],
- [32, 0, 96],[32, 267, 360],
- [33, 0, 96],
- [38, 272, 360],
- [45, 0, 93],[45, 267, 360],
- [50, 0, 98],
- [51, 0, 98],
- [52, 0, 98],
- [53, 0, 98],
- [54, 0, 98],
- [57, 0, 93],
- [58, 0, 93],[58, 261, 360],
- [59, 0, 93],[59, 261, 360],
- [60, 0, 93],[60, 261, 360],
- [61, 0, 93],
- [72, 269, 360],
- [73, 0, 88],[73, 269, 360],
- [74, 0, 88],[74, 269, 360],
- [75, 0, 90],
- [76, 0, 94],
- [77, 0, 94],
- [78, 0, 94],
- [79, 0, 94],
- [80, 0, 94],
- [81, 0, 90],
- [82, 0, 90],
- [83, 0, 90],
- [84, 0, 88],
- [85, 0, 88],
- [86, 0, 88],
- [88, 273, 360],
- [89, 273, 360],
- [90, 273, 360],
- [91, 0, 93],[91, 273, 360],
- [92, 0, 93],[92, 268, 360],
- [93, 0, 93],[93, 273, 360],
- [94, 0, 93],[94, 273, 360],
- [95, 0, 93],[95, 273, 360],
- [96, 0, 93],[96, 273, 360],
- [97, 0, 93],[97, 273, 360],
- [98, 0, 93],[98, 273, 360],
- [99, 0, 93],[99, 273, 360],
- [100, 0, 93.5],[100, 273, 360],
- [101, 273, 360],
- [102, 273, 360],
- [103, 274, 360],
- [104, 274, 360],
- [105, 275, 360],
- [106, 0, 95],[106, 275, 360],
- [107, 0, 95],[107, 275, 360],
- [108, 0, 95],[108, 275, 360],
- [109, 0, 95],
- [110, 0, 95],
- [111, 0, 90],
- [112, 0, 93],
- [113, 0, 93],
- [114, 0, 93],
- [115, 0, 93],
- [116, 0, 93],
- [117, 0, 93],
- [118, 0, 96],[118, 265, 360],
- [119, 0, 96],[119, 265, 360],
- [120, 0, 98],[120, 265, 360],
- [121, 0, 98],[121, 265, 360],
- [122, 0, 98],[122, 258, 360],
- [123, 0, 98],[123, 258, 360],
- [124, 0, 98],[124, 258, 360],
- [125, 0, 100],[125, 256, 360],
- [126, 0, 100],[126, 256, 360],
- [127, 0, 100],[127, 256, 360],
[1, 0, 360],
[2, 0, 360],
[4, 0, 360],
diff --git a/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_two_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_two_third.param.yaml
index 3ae4770d..45a57f55 100644
--- a/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_two_third.param.yaml
+++ b/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_two_third.param.yaml
@@ -3,102 +3,6 @@
point_filters: |
{
"ring_section_filter": [
- [0, 0, 93],[0, 266, 360],
- [1, 0, 93],[1, 266, 360],
- [2, 0, 93],[2, 266, 360],
- [3, 0, 93],[3, 266, 360],
- [4, 268, 360],
- [5, 268, 360],
- [6, 268, 360],
- [7, 268, 360],
- [8, 268, 360],
- [10, 272, 360],
- [11, 272, 360],
- [12, 272, 360],
- [13, 272, 360],
- [14, 266, 360],
- [15, 266, 360],
- [16, 266, 360],
- [17, 0, 96],[17, 266, 360],
- [18, 0, 96],[18, 263, 360],
- [19, 0, 96],[19, 263, 360],
- [20, 0, 96],[20, 263, 360],
- [21, 0, 96],[21, 263, 360],
- [22, 270, 360],
- [23, 270, 360],
- [24, 270, 360],
- [29, 0, 96],
- [30, 0, 96],[30, 267, 360],
- [31, 0, 96],[31, 267, 360],
- [32, 0, 96],[32, 267, 360],
- [33, 0, 96],
- [38, 272, 360],
- [45, 0, 93],[45, 267, 360],
- [50, 0, 98],
- [51, 0, 98],
- [52, 0, 98],
- [53, 0, 98],
- [54, 0, 98],
- [57, 0, 93],
- [58, 0, 93],[58, 261, 360],
- [59, 0, 93],[59, 261, 360],
- [60, 0, 93],[60, 261, 360],
- [61, 0, 93],
- [72, 269, 360],
- [73, 0, 88],[73, 269, 360],
- [74, 0, 88],[74, 269, 360],
- [75, 0, 90],
- [76, 0, 94],
- [77, 0, 94],
- [78, 0, 94],
- [79, 0, 94],
- [80, 0, 94],
- [81, 0, 90],
- [82, 0, 90],
- [83, 0, 90],
- [84, 0, 88],
- [85, 0, 88],
- [86, 0, 88],
- [88, 273, 360],
- [89, 273, 360],
- [90, 273, 360],
- [91, 0, 93],[91, 273, 360],
- [92, 0, 93],[92, 268, 360],
- [93, 0, 93],[93, 273, 360],
- [94, 0, 93],[94, 273, 360],
- [95, 0, 93],[95, 273, 360],
- [96, 0, 93],[96, 273, 360],
- [97, 0, 93],[97, 273, 360],
- [98, 0, 93],[98, 273, 360],
- [99, 0, 93],[99, 273, 360],
- [100, 0, 93.5],[100, 273, 360],
- [101, 273, 360],
- [102, 273, 360],
- [103, 274, 360],
- [104, 274, 360],
- [105, 275, 360],
- [106, 0, 95],[106, 275, 360],
- [107, 0, 95],[107, 275, 360],
- [108, 0, 95],[108, 275, 360],
- [109, 0, 95],
- [110, 0, 95],
- [111, 0, 90],
- [112, 0, 93],
- [113, 0, 93],
- [114, 0, 93],
- [115, 0, 93],
- [116, 0, 93],
- [117, 0, 93],
- [118, 0, 96],[118, 265, 360],
- [119, 0, 96],[119, 265, 360],
- [120, 0, 98],[120, 265, 360],
- [121, 0, 98],[121, 265, 360],
- [122, 0, 98],[122, 258, 360],
- [123, 0, 98],[123, 258, 360],
- [124, 0, 98],[124, 258, 360],
- [125, 0, 100],[125, 256, 360],
- [126, 0, 100],[126, 256, 360],
- [127, 0, 100],[127, 256, 360],
[0, 0, 360],
[3, 0, 360],
[6, 0, 360],
diff --git a/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_full.param.yaml b/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_full.param.yaml
index 943a4c5d..c6f269aa 100644
--- a/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_full.param.yaml
+++ b/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_full.param.yaml
@@ -2,61 +2,4 @@
ros__parameters:
point_filters: |
{
- "ring_section_filter": [
- [0, 0, 360],
- [1, 0, 360],
- [2, 0, 360],
- [3, 0, 170],[3, 199.5, 360],
- [4, 0, 155],[4, 203, 360],
- [5, 0, 152],[5, 206, 217],[5, 220, 360],
- [6, 0, 146],[6, 217, 360],
- [7, 0, 143],[7, 230, 360],
- [8, 0, 143],[8, 228.5, 360],
- [9, 0, 142],[9, 228.5, 360],
- [10, 0, 141],[10, 235, 360],
- [11, 0, 140],[11, 235, 360],
- [12, 0, 140],[12, 235, 360],
- [13, 0, 135],[13, 235, 360],
- [14, 0, 133],[14, 235, 360],
- [15, 0, 131],[15, 235, 360],
- [16, 0, 129],[16, 235, 360],
- [17, 0, 127],[17, 235, 360],
- [18, 0, 127],[18, 235, 360],
- [19, 0, 126],[19, 235, 360],
- [20, 0, 125],[20, 235, 360],
- [21, 0, 125],[21, 235, 360],
- [22, 0, 124],[22, 235, 360],
- [23, 0, 124],[23, 235, 360],
- [24, 0, 122],[24, 235, 360],
- [25, 0, 122],[25, 235, 360],
- [26, 0, 121],[26, 235, 360],
- [27, 0, 120],[27, 235, 360],
- [28, 0, 119],[28, 239, 360],
- [29, 0, 118],[29, 240, 360],
- [30, 0, 110],[30, 240, 360],
- [31, 0, 109],[31, 240, 267],
- [32, 0, 109],[32, 244, 267],
- [33, 0, 108],[33, 244, 267],
- [34, 0, 108],[34, 244, 265],
- [35, 0, 107],[35, 244, 265],
- [36, 0, 107],[36, 244, 265],
- [37, 0, 106],[37, 244, 265],
- [38, 0, 106],[38, 244, 265],
- [39, 0, 105],[39, 244, 265],
- [40, 0, 105],[40, 244, 265],
- [41, 0, 104],[41, 244, 265],
- [42, 0, 104],[42, 244, 265],
- [43, 0, 103],[43, 244, 265],
- [44, 0, 102],
- [45, 0, 101],
- [46, 0, 96],
- [47, 0, 95],
- [48, 0, 95],
- [49, 0, 94],
- [50, 0, 93],
- [51, 0, 93],
- [52, 0, 92],
- [53, 0, 92],
- [54, 0, 92]
- ]
- }
+ }
\ No newline at end of file
diff --git a/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_one_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_one_third.param.yaml
index 66e55a5f..075381cc 100644
--- a/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_one_third.param.yaml
+++ b/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_one_third.param.yaml
@@ -3,61 +3,6 @@
point_filters: |
{
"ring_section_filter": [
- [0, 0, 360],
- [1, 0, 360],
- [2, 0, 170],[2, 192, 360],
- [3, 0, 160],[3, 199.5, 360],
- [4, 0, 155],[4, 203, 360],
- [5, 0, 152],[5, 206, 217],[5, 220, 360],
- [6, 0, 146],[6, 217, 360],
- [7, 0, 143],[7, 230, 360],
- [8, 0, 139],[8, 228.5, 360],
- [9, 0, 135],[9, 228.5, 360],
- [10, 0, 133],[10, 235, 360],
- [11, 0, 132],[11, 235, 360],
- [12, 0, 131],[12, 235, 360],
- [13, 0, 129],[13, 235, 360],
- [14, 0, 127],[14, 235, 360],
- [15, 0, 126],[15, 235, 360],
- [16, 0, 124],[16, 235, 360],
- [17, 0, 122],[17, 235, 360],
- [18, 0, 121],[18, 235, 360],
- [19, 0, 120],[19, 235, 360],
- [20, 0, 119],[20, 235, 360],
- [21, 0, 118],[21, 235, 360],
- [22, 0, 117],[22, 235, 360],
- [23, 0, 116],[23, 235, 360],
- [24, 0, 115],[24, 235, 360],
- [25, 0, 114],[25, 235, 360],
- [26, 0, 113],[26, 235, 360],
- [27, 0, 112],[27, 235, 360],
- [28, 0, 119],[28, 239, 360],
- [29, 0, 118],[29, 240, 360],
- [30, 0, 110],[30, 240, 360],
- [31, 0, 109],[31, 240, 267],
- [32, 0, 109],[32, 244, 267],
- [33, 0, 108],[33, 244, 267],
- [34, 0, 108],[34, 244, 265],
- [35, 0, 107],[35, 244, 265],
- [36, 0, 107],[36, 244, 265],
- [37, 0, 106],[37, 244, 265],
- [38, 0, 106],[38, 244, 265],
- [39, 0, 105],[39, 244, 265],
- [40, 0, 105],[40, 244, 265],
- [41, 0, 104],[41, 244, 265],
- [42, 0, 104],[42, 244, 265],
- [43, 0, 103],[43, 244, 265],
- [44, 0, 102],
- [45, 0, 101],
- [46, 0, 96],
- [47, 0, 95],
- [48, 0, 95],
- [49, 0, 94],
- [50, 0, 93],
- [51, 0, 93],
- [52, 0, 92],
- [53, 0, 92],
- [54, 0, 92]
[1, 0, 360],
[2, 0, 360],
[4, 0, 360],
diff --git a/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_two_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_two_third.param.yaml
index e21ce758..45a57f55 100644
--- a/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_two_third.param.yaml
+++ b/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_two_third.param.yaml
@@ -4,61 +4,6 @@
{
"ring_section_filter": [
[0, 0, 360],
- [1, 0, 360],
- [2, 0, 170],[2, 192, 360],
- [3, 0, 160],[3, 199.5, 360],
- [4, 0, 155],[4, 203, 360],
- [5, 0, 152],[5, 206, 217],[5, 220, 360],
- [6, 0, 146],[6, 217, 360],
- [7, 0, 143],[7, 230, 360],
- [8, 0, 139],[8, 228.5, 360],
- [9, 0, 135],[9, 228.5, 360],
- [10, 0, 133],[10, 235, 360],
- [11, 0, 132],[11, 235, 360],
- [12, 0, 131],[12, 235, 360],
- [13, 0, 129],[13, 235, 360],
- [14, 0, 127],[14, 235, 360],
- [15, 0, 126],[15, 235, 360],
- [16, 0, 124],[16, 235, 360],
- [17, 0, 122],[17, 235, 360],
- [18, 0, 121],[18, 235, 360],
- [19, 0, 120],[19, 235, 360],
- [20, 0, 119],[20, 235, 360],
- [21, 0, 118],[21, 235, 360],
- [22, 0, 117],[22, 235, 360],
- [23, 0, 116],[23, 235, 360],
- [24, 0, 115],[24, 235, 360],
- [25, 0, 114],[25, 235, 360],
- [26, 0, 113],[26, 235, 360],
- [27, 0, 112],[27, 235, 360],
- [28, 0, 119],[28, 239, 360],
- [29, 0, 118],[29, 240, 360],
- [30, 0, 110],[30, 240, 360],
- [31, 0, 109],[31, 240, 267],
- [32, 0, 109],[32, 244, 267],
- [33, 0, 108],[33, 244, 267],
- [34, 0, 108],[34, 244, 265],
- [35, 0, 107],[35, 244, 265],
- [36, 0, 107],[36, 244, 265],
- [37, 0, 106],[37, 244, 265],
- [38, 0, 106],[38, 244, 265],
- [39, 0, 105],[39, 244, 265],
- [40, 0, 105],[40, 244, 265],
- [41, 0, 104],[41, 244, 265],
- [42, 0, 104],[42, 244, 265],
- [43, 0, 103],[43, 244, 265],
- [44, 0, 102],
- [45, 0, 101],
- [46, 0, 96],
- [47, 0, 95],
- [48, 0, 95],
- [49, 0, 94],
- [50, 0, 93],
- [51, 0, 93],
- [52, 0, 92],
- [53, 0, 92],
- [54, 0, 92],
- [0, 0, 360],
[3, 0, 360],
[6, 0, 360],
[9, 0, 360],
diff --git a/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_full.param.yaml b/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_full.param.yaml
index 0303a1d4..c6f269aa 100644
--- a/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_full.param.yaml
+++ b/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_full.param.yaml
@@ -2,71 +2,4 @@
ros__parameters:
point_filters: |
{
- "ring_section_filter": [
- [11, 322, 336],[11, 354, 360],
- [15, 143.95, 147.1],[15, 318, 360],
- [19, 330, 360],
- [23, 330, 360],
- [31, 348, 360],
- [38, 350, 360],
- [45, 339, 360],
- [52, 339, 360],
- [59, 99, 101.5],[59, 330, 360],
- [60, 330, 341],
- [61, 330, 341],
- [62, 330, 341],
- [63, 330, 341],
- [64, 330, 341],
- [65, 330, 341],
- [66, 319, 360],
- [67, 330, 342],
- [68, 330, 342],
- [69, 330, 342],
- [70, 317, 360],
- [71, 331, 341],
- [72, 319, 322],[72, 331, 341],
- [73, 316, 360],
- [74, 318, 341],
- [75, 318, 341],
- [76, 318, 341],
- [77, 318, 360],
- [77, 318, 360],
- [78, 318, 360],
- [79, 315, 360],
- [80, 318, 360],
- [81, 318, 360],
- [82, 318, 360],
- [83, 318, 360],
- [84, 319, 360],
- [85, 319, 360],
- [86, 319, 360],
- [87, 320, 360],
- [88, 315, 360],
- [89, 322, 323],
- [91, 287.55, 289.90],
- [92, 287.55, 289.75],[92, 315, 360],
- [96, 316, 360],
- [100, 316, 360],
- [104, 316, 360],
- [108, 314, 360],
- [109, 314.74, 60],
- [110, 312.74, 360],
- [111, 312.73, 360],
- [112, 308.48, 360],
- [113, 305.68, 360],
- [114, 308.58, 360],
- [115, 307, 360],
- [116, 303, 360],
- [117, 303, 360],
- [118, 303.81, 360],
- [119, 302.09, 360],
- [120, 298.42, 360],
- [121, 90, 91],[121, 299.63, 360],
- [122, 90, 92],[122, 298.42, 360],
- [123, 90, 92],[123, 298.42, 360],
- [124, 90, 93],[124, 293, 360],
- [125, 90, 93],[125, 293, 360],
- [126, 90, 93],[126, 292.12, 360],
- [127, 90, 93],[127, 289.71, 360]
- ]
- }
+ }
\ No newline at end of file
diff --git a/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_one_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_one_third.param.yaml
index d6117158..075381cc 100644
--- a/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_one_third.param.yaml
+++ b/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_one_third.param.yaml
@@ -3,71 +3,6 @@
point_filters: |
{
"ring_section_filter": [
- [11, 322, 336],[11, 354, 360],
- [15, 143.95, 147.1],[15, 318, 360],
- [19, 330, 360],
- [23, 330, 360],
- [31, 348, 360],
- [38, 350, 360],
- [45, 339, 360],
- [52, 339, 360],
- [59, 99, 101.5],[59, 330, 360],
- [60, 330, 341],
- [61, 330, 341],
- [62, 330, 341],
- [63, 330, 341],
- [64, 330, 341],
- [65, 330, 341],
- [66, 319, 360],
- [67, 330, 342],
- [68, 330, 342],
- [69, 330, 342],
- [70, 317, 360],
- [71, 331, 341],
- [72, 319, 322],[72, 331, 341],
- [73, 316, 360],
- [74, 318, 341],
- [75, 318, 341],
- [76, 318, 341],
- [77, 318, 360],
- [77, 318, 360],
- [78, 318, 360],
- [79, 315, 360],
- [80, 318, 360],
- [81, 318, 360],
- [82, 318, 360],
- [83, 318, 360],
- [84, 319, 360],
- [85, 319, 360],
- [86, 319, 360],
- [87, 320, 360],
- [88, 315, 360],
- [89, 322, 323],
- [91, 287.55, 289.90],
- [92, 287.55, 289.75],[92, 315, 360],
- [96, 316, 360],
- [100, 316, 360],
- [104, 316, 360],
- [108, 314, 360],
- [109, 314.74, 60],
- [110, 312.74, 360],
- [111, 312.73, 360],
- [112, 308.48, 360],
- [113, 305.68, 360],
- [114, 308.58, 360],
- [115, 307, 360],
- [116, 303, 360],
- [117, 303, 360],
- [118, 303.81, 360],
- [119, 302.09, 360],
- [120, 298.42, 360],
- [121, 90, 91],[121, 299.63, 360],
- [122, 90, 92],[122, 298.42, 360],
- [123, 90, 92],[123, 298.42, 360],
- [124, 90, 93],[124, 293, 360],
- [125, 90, 93],[125, 293, 360],
- [126, 90, 93],[126, 292.12, 360],
- [127, 90, 93],[127, 289.71, 360],
[1, 0, 360],
[2, 0, 360],
[4, 0, 360],
diff --git a/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_two_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_two_third.param.yaml
index 2022217a..45a57f55 100644
--- a/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_two_third.param.yaml
+++ b/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_two_third.param.yaml
@@ -3,71 +3,6 @@
point_filters: |
{
"ring_section_filter": [
- [11, 322, 336],[11, 354, 360],
- [15, 143.95, 147.1],[15, 318, 360],
- [19, 330, 360],
- [23, 330, 360],
- [31, 348, 360],
- [38, 350, 360],
- [45, 339, 360],
- [52, 339, 360],
- [59, 99, 101.5],[59, 330, 360],
- [60, 330, 341],
- [61, 330, 341],
- [62, 330, 341],
- [63, 330, 341],
- [64, 330, 341],
- [65, 330, 341],
- [66, 319, 360],
- [67, 330, 342],
- [68, 330, 342],
- [69, 330, 342],
- [70, 317, 360],
- [71, 331, 341],
- [72, 319, 322],[72, 331, 341],
- [73, 316, 360],
- [74, 318, 341],
- [75, 318, 341],
- [76, 318, 341],
- [77, 318, 360],
- [77, 318, 360],
- [78, 318, 360],
- [79, 315, 360],
- [80, 318, 360],
- [81, 318, 360],
- [82, 318, 360],
- [83, 318, 360],
- [84, 319, 360],
- [85, 319, 360],
- [86, 319, 360],
- [87, 320, 360],
- [88, 315, 360],
- [89, 322, 323],
- [91, 287.55, 289.90],
- [92, 287.55, 289.75],[92, 315, 360],
- [96, 316, 360],
- [100, 316, 360],
- [104, 316, 360],
- [108, 314, 360],
- [109, 314.74, 60],
- [110, 312.74, 360],
- [111, 312.73, 360],
- [112, 308.48, 360],
- [113, 305.68, 360],
- [114, 308.58, 360],
- [115, 307, 360],
- [116, 303, 360],
- [117, 303, 360],
- [118, 303.81, 360],
- [119, 302.09, 360],
- [120, 298.42, 360],
- [121, 90, 91],[121, 299.63, 360],
- [122, 90, 92],[122, 298.42, 360],
- [123, 90, 92],[123, 298.42, 360],
- [124, 90, 93],[124, 293, 360],
- [125, 90, 93],[125, 293, 360],
- [126, 90, 93],[126, 292.12, 360],
- [127, 90, 93],[127, 289.71, 360],
[0, 0, 360],
[3, 0, 360],
[6, 0, 360],
diff --git a/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_full.param.yaml b/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_full.param.yaml
index ee183856..c6f269aa 100644
--- a/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_full.param.yaml
+++ b/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_full.param.yaml
@@ -2,54 +2,4 @@
ros__parameters:
point_filters: |
{
- "ring_section_filter": [
- [0, 60, 148], [0, 212,360],
- [1, 60, 144], [1, 216,360],
- [2, 60, 142], [2, 218,360],
- [3, 60, 140], [3, 220,360],
- [4, 60, 138], [4, 222,360],
- [5, 60, 138], [5, 222,360],
- [6, 60, 134], [6, 226,360],
- [7, 60, 134], [7, 226,360],
- [8, 60, 132], [8, 228,360],
- [9, 60, 132], [9, 228,360],
- [10, 60, 130], [10, 230,360],
- [11, 60, 120], [11, 240,360],
- [12, 60, 118], [12, 242,360],
- [13, 60, 118], [13, 242,360],
- [14, 60, 118], [14, 242,360],
- [15, 60, 118], [15, 242,360],
- [16, 60, 118], [16, 242,360],
- [17, 60, 118], [17, 242,360],
- [18, 60, 116], [18, 244,360],
- [19, 60, 116], [19, 244,360],
- [20, 60, 112], [20, 248,360],
- [21, 60, 112], [21, 248,360],
- [22, 60, 110], [22, 250,360],
- [23, 60, 110], [23, 250,360],
- [24, 60, 110], [24, 250,360],
- [25, 60, 110], [25, 250,360],
- [26, 60, 110], [26, 250,360],
- [27, 60, 106], [27, 254,360],
- [28, 60, 106], [28, 254,360],
- [29, 60, 106], [29, 254,360],
- [30, 60, 104], [30, 256,360],
- [31, 60, 104], [31, 256,360],
- [32, 60, 104], [32, 256,360],
- [33, 60, 104], [33, 256,360],
- [34, 60, 104], [34, 256,360],
- [35, 60, 100], [35, 260,360],
- [36, 60, 100], [36, 260,360],
- [37, 60, 100], [37, 260,360],
- [38, 60, 100], [38, 260,360],
- [39, 60, 96], [39, 264,360],
- [40, 60, 96], [40, 264,360],
- [41, 60, 96], [41, 264,360],
- [42, 60, 96], [42, 264,360],
- [43, 60, 96], [43, 264,360],
- [44, 60, 94], [44, 266,360],
- [45, 60, 94], [45, 266,360],
- [46, 60, 94], [46, 266,360],
- [47, 60, 94], [47, 266,360]
- ]
- }
+ }
\ No newline at end of file
diff --git a/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_one_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_one_third.param.yaml
index d4fe2b58..075381cc 100644
--- a/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_one_third.param.yaml
+++ b/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_one_third.param.yaml
@@ -3,54 +3,6 @@
point_filters: |
{
"ring_section_filter": [
- [0, 60, 148], [0, 212,360],
- [1, 60, 144], [1, 216,360],
- [2, 60, 142], [2, 218,360],
- [3, 60, 140], [3, 220,360],
- [4, 60, 138], [4, 222,360],
- [5, 60, 138], [5, 222,360],
- [6, 60, 134], [6, 226,360],
- [7, 60, 134], [7, 226,360],
- [8, 60, 132], [8, 228,360],
- [9, 60, 132], [9, 228,360],
- [10, 60, 130], [10, 230,360],
- [11, 60, 120], [11, 240,360],
- [12, 60, 118], [12, 242,360],
- [13, 60, 118], [13, 242,360],
- [14, 60, 118], [14, 242,360],
- [15, 60, 118], [15, 242,360],
- [16, 60, 118], [16, 242,360],
- [17, 60, 118], [17, 242,360],
- [18, 60, 116], [18, 244,360],
- [19, 60, 116], [19, 244,360],
- [20, 60, 112], [20, 248,360],
- [21, 60, 112], [21, 248,360],
- [22, 60, 110], [22, 250,360],
- [23, 60, 110], [23, 250,360],
- [24, 60, 110], [24, 250,360],
- [25, 60, 110], [25, 250,360],
- [26, 60, 110], [26, 250,360],
- [27, 60, 106], [27, 254,360],
- [28, 60, 106], [28, 254,360],
- [29, 60, 106], [29, 254,360],
- [30, 60, 104], [30, 256,360],
- [31, 60, 104], [31, 256,360],
- [32, 60, 104], [32, 256,360],
- [33, 60, 104], [33, 256,360],
- [34, 60, 104], [34, 256,360],
- [35, 60, 100], [35, 260,360],
- [36, 60, 100], [36, 260,360],
- [37, 60, 100], [37, 260,360],
- [38, 60, 100], [38, 260,360],
- [39, 60, 96], [39, 264,360],
- [40, 60, 96], [40, 264,360],
- [41, 60, 96], [41, 264,360],
- [42, 60, 96], [42, 264,360],
- [43, 60, 96], [43, 264,360],
- [44, 60, 94], [44, 266,360],
- [45, 60, 94], [45, 266,360],
- [46, 60, 94], [46, 266,360],
- [47, 60, 94], [47, 266,360],
[1, 0, 360],
[2, 0, 360],
[4, 0, 360],
diff --git a/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_two_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_two_third.param.yaml
index b77ffde6..45a57f55 100644
--- a/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_two_third.param.yaml
+++ b/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_two_third.param.yaml
@@ -3,54 +3,6 @@
point_filters: |
{
"ring_section_filter": [
- [0, 60, 148], [0, 212,360],
- [1, 60, 144], [1, 216,360],
- [2, 60, 142], [2, 218,360],
- [3, 60, 140], [3, 220,360],
- [4, 60, 138], [4, 222,360],
- [5, 60, 138], [5, 222,360],
- [6, 60, 134], [6, 226,360],
- [7, 60, 134], [7, 226,360],
- [8, 60, 132], [8, 228,360],
- [9, 60, 132], [9, 228,360],
- [10, 60, 130], [10, 230,360],
- [11, 60, 120], [11, 240,360],
- [12, 60, 118], [12, 242,360],
- [13, 60, 118], [13, 242,360],
- [14, 60, 118], [14, 242,360],
- [15, 60, 118], [15, 242,360],
- [16, 60, 118], [16, 242,360],
- [17, 60, 118], [17, 242,360],
- [18, 60, 116], [18, 244,360],
- [19, 60, 116], [19, 244,360],
- [20, 60, 112], [20, 248,360],
- [21, 60, 112], [21, 248,360],
- [22, 60, 110], [22, 250,360],
- [23, 60, 110], [23, 250,360],
- [24, 60, 110], [24, 250,360],
- [25, 60, 110], [25, 250,360],
- [26, 60, 110], [26, 250,360],
- [27, 60, 106], [27, 254,360],
- [28, 60, 106], [28, 254,360],
- [29, 60, 106], [29, 254,360],
- [30, 60, 104], [30, 256,360],
- [31, 60, 104], [31, 256,360],
- [32, 60, 104], [32, 256,360],
- [33, 60, 104], [33, 256,360],
- [34, 60, 104], [34, 256,360],
- [35, 60, 100], [35, 260,360],
- [36, 60, 100], [36, 260,360],
- [37, 60, 100], [37, 260,360],
- [38, 60, 100], [38, 260,360],
- [39, 60, 96], [39, 264,360],
- [40, 60, 96], [40, 264,360],
- [41, 60, 96], [41, 264,360],
- [42, 60, 96], [42, 264,360],
- [43, 60, 96], [43, 264,360],
- [44, 60, 94], [44, 266,360],
- [45, 60, 94], [45, 266,360],
- [46, 60, 94], [46, 266,360],
- [47, 60, 94], [47, 266,360],
[0, 0, 360],
[3, 0, 360],
[6, 0, 360],
diff --git a/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_full.param.yaml b/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_full.param.yaml
index abbbc01c..c6f269aa 100644
--- a/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_full.param.yaml
+++ b/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_full.param.yaml
@@ -2,124 +2,4 @@
ros__parameters:
point_filters: |
{
- "ring_section_filter": [
- [0, 0, 95],[0, 270, 360],
- [1, 0, 95],[1, 270, 360],
- [2, 0, 95],[2, 270, 360],
- [3, 0, 95],[3, 270, 360],
- [4, 0, 98],[4, 270, 360],
- [5, 0, 98],[5, 270, 360],
- [6, 0, 98],[6, 270, 360],
- [7, 0, 98],[7, 270, 360],
- [8, 0, 98],[8, 270, 360],
- [9, 0, 99],[9, 270, 360],
- [10, 0, 99],[10, 270, 360],
- [11, 0, 99],[11, 270, 360],
- [12, 0, 99],[12, 270, 360],
- [13, 0, 104],[13, 270, 360],
- [14, 0, 104],[14, 265, 360],
- [15, 0, 104],[15, 265, 360],
- [16, 0, 104],[16, 265, 360],
- [17, 0, 104],[17, 263, 360],
- [18, 0, 103],[18, 263, 360],
- [19, 0, 103],[19, 263, 360],
- [20, 0, 103],[20, 263, 360],
- [21, 0, 103],[21, 263, 360],
- [22, 0, 102],[22, 264, 360],
- [23, 0, 102],[23, 264, 360],
- [24, 0, 102],[24, 264, 360],
- [25, 0, 102],
- [29, 0, 106],
- [30, 0, 106],[30,264, 360],
- [31, 0, 106],[31,264, 360],
- [32, 0, 106],[32,264, 360],
- [33, 0, 106],
- [34, 0, 90],
- [35, 0, 90],
- [36, 0, 102],
- [37, 0, 102],
- [38, 0, 102],
- [39, 0, 102],
- [40, 0, 102],
- [41, 0, 90],
- [42, 0, 90],
- [43, 0, 101],
- [44, 0, 101],[44, 262, 360],
- [45, 0, 101],[45, 262, 360],
- [46, 0, 101],[46, 262, 360],
- [47, 0, 101],[47, 262, 360],
- [50, 0, 106],[50, 268, 360],
- [51, 0, 106],[51, 268, 360],
- [52, 0, 106],[52, 268, 360],
- [53, 0, 106],[53, 268, 360],
- [54, 0, 106],[54, 268, 360],
- [57, 0, 106],[57, 269, 360],
- [58, 0, 106],[58, 269, 360],
- [59, 0, 106],[59, 269, 360],
- [60, 0, 106],[60, 269, 360],
- [61, 0, 106],[61, 269, 360],
- [62, 0, 100],
- [63, 0, 100],
- [64, 0, 100],
- [65, 0, 100],[65, 259.5, 360],
- [66, 0, 100],[66, 259.5, 360],
- [67, 0, 100],[67, 259.5, 360],
- [68, 0, 100],
- [72, 265, 360],
- [73, 265, 360],
- [74, 265, 360],
- [75, 265, 360],
- [76, 265, 360],
- [77, 265, 360],
- [78, 0, 98],[78, 262, 360],
- [79, 0, 98],[79, 262, 360],
- [80, 0, 98],[80, 262, 360],
- [81, 0, 98],[81, 262, 360],
- [82, 0, 98],[82, 262, 360],
- [83, 0, 98],[83, 262, 360],
- [84, 0, 98],[84, 262, 360],
- [85, 0, 98],[85, 262, 360],
- [86, 0, 98],[86, 262, 360],
- [87, 0, 100],[87, 262, 360],
- [88, 0, 100],[88, 262, 360],
- [89, 0, 100],[89, 262, 360],
- [90, 0, 103], [90, 262, 360],
- [91, 0, 103], [91, 266, 360],
- [92, 0, 103], [92, 266, 360],
- [93, 0, 103], [93, 266, 360],
- [94, 0, 106], [94, 266, 360],
- [95, 0, 106],[95, 266, 360],
- [96, 0, 106],[96, 266, 360],
- [97, 0, 106],[97, 266, 360],
- [98, 0, 108],[98, 268, 360],
- [99, 0, 108],[99, 268, 360],
- [100, 0, 108],[100, 268, 360],
- [101, 0, 108],[101, 268, 360],
- [102, 0, 108],[102, 268, 360],
- [103, 0, 108],[103, 268, 360],
- [104, 0, 108],[104, 268, 360],
- [105, 0, 108],[105, 268, 360],
- [106, 0, 108],[106, 266, 360],
- [107, 0, 106],[107, 266, 360],
- [108, 0, 106],[108, 266, 360],
- [109, 0, 106],[109, 266, 360],
- [110, 0, 106],[110, 266, 360],
- [111, 0, 106],[111, 266, 360],
- [112, 0, 106],[112, 266, 360],
- [113, 0, 106],[113, 266, 360],
- [114, 0, 106],[114, 266, 360],
- [115, 0, 106],[115, 266, 360],
- [116, 0, 106],[116, 266, 360],
- [117, 0, 107],[117, 266, 360],
- [118, 0, 107],[118, 264, 360],
- [119, 0, 107],[119, 264, 360],
- [120, 0, 107],[120, 260, 360],
- [121, 0, 107],[121, 260, 360],
- [122, 0, 107],[122, 260, 360],
- [123, 0, 110], [123, 260, 360],
- [124, 0, 110], [124, 258, 360],
- [125, 0, 110], [125, 258, 360],
- [126, 0, 110], [126, 258, 360],
- [127, 0, 110], [127, 258, 360]
- ]
- }
+ }
\ No newline at end of file
diff --git a/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_one_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_one_third.param.yaml
index 331627ca..075381cc 100644
--- a/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_one_third.param.yaml
+++ b/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_one_third.param.yaml
@@ -3,124 +3,6 @@
point_filters: |
{
"ring_section_filter": [
- [0, 0, 95],[0, 270, 360],
- [1, 0, 95],[1, 270, 360],
- [2, 0, 95],[2, 270, 360],
- [3, 0, 95],[3, 270, 360],
- [4, 0, 98],[4, 270, 360],
- [5, 0, 98],[5, 270, 360],
- [6, 0, 98],[6, 270, 360],
- [7, 0, 98],[7, 270, 360],
- [8, 0, 98],[8, 270, 360],
- [9, 0, 99],[9, 270, 360],
- [10, 0, 99],[10, 270, 360],
- [11, 0, 99],[11, 270, 360],
- [12, 0, 99],[12, 270, 360],
- [13, 0, 104],[13, 270, 360],
- [14, 0, 104],[14, 265, 360],
- [15, 0, 104],[15, 265, 360],
- [16, 0, 104],[16, 265, 360],
- [17, 0, 104],[17, 263, 360],
- [18, 0, 103],[18, 263, 360],
- [19, 0, 103],[19, 263, 360],
- [20, 0, 103],[20, 263, 360],
- [21, 0, 103],[21, 263, 360],
- [22, 0, 102],[22, 264, 360],
- [23, 0, 102],[23, 264, 360],
- [24, 0, 102],[24, 264, 360],
- [25, 0, 102],
- [29, 0, 106],
- [30, 0, 106],[30,264, 360],
- [31, 0, 106],[31,264, 360],
- [32, 0, 106],[32,264, 360],
- [33, 0, 106],
- [34, 0, 90],
- [35, 0, 90],
- [36, 0, 102],
- [37, 0, 102],
- [38, 0, 102],
- [39, 0, 102],
- [40, 0, 102],
- [41, 0, 90],
- [42, 0, 90],
- [43, 0, 101],
- [44, 0, 101],[44, 262, 360],
- [45, 0, 101],[45, 262, 360],
- [46, 0, 101],[46, 262, 360],
- [47, 0, 101],[47, 262, 360],
- [50, 0, 106],[50, 268, 360],
- [51, 0, 106],[51, 268, 360],
- [52, 0, 106],[52, 268, 360],
- [53, 0, 106],[53, 268, 360],
- [54, 0, 106],[54, 268, 360],
- [57, 0, 106],[57, 269, 360],
- [58, 0, 106],[58, 269, 360],
- [59, 0, 106],[59, 269, 360],
- [60, 0, 106],[60, 269, 360],
- [61, 0, 106],[61, 269, 360],
- [62, 0, 100],
- [63, 0, 100],
- [64, 0, 100],
- [65, 0, 100],[65, 259.5, 360],
- [66, 0, 100],[66, 259.5, 360],
- [67, 0, 100],[67, 259.5, 360],
- [68, 0, 100],
- [72, 265, 360],
- [73, 265, 360],
- [74, 265, 360],
- [75, 265, 360],
- [76, 265, 360],
- [77, 265, 360],
- [78, 0, 98],[78, 262, 360],
- [79, 0, 98],[79, 262, 360],
- [80, 0, 98],[80, 262, 360],
- [81, 0, 98],[81, 262, 360],
- [82, 0, 98],[82, 262, 360],
- [83, 0, 98],[83, 262, 360],
- [84, 0, 98],[84, 262, 360],
- [85, 0, 98],[85, 262, 360],
- [86, 0, 98],[86, 262, 360],
- [87, 0, 100],[87, 262, 360],
- [88, 0, 100],[88, 262, 360],
- [89, 0, 100],[89, 262, 360],
- [90, 0, 103], [90, 262, 360],
- [91, 0, 103], [91, 266, 360],
- [92, 0, 103], [92, 266, 360],
- [93, 0, 103], [93, 266, 360],
- [94, 0, 106], [94, 266, 360],
- [95, 0, 106],[95, 266, 360],
- [96, 0, 106],[96, 266, 360],
- [97, 0, 106],[97, 266, 360],
- [98, 0, 108],[98, 268, 360],
- [99, 0, 108],[99, 268, 360],
- [100, 0, 108],[100, 268, 360],
- [101, 0, 108],[101, 268, 360],
- [102, 0, 108],[102, 268, 360],
- [103, 0, 108],[103, 268, 360],
- [104, 0, 108],[104, 268, 360],
- [105, 0, 108],[105, 268, 360],
- [106, 0, 108],[106, 266, 360],
- [107, 0, 106],[107, 266, 360],
- [108, 0, 106],[108, 266, 360],
- [109, 0, 106],[109, 266, 360],
- [110, 0, 106],[110, 266, 360],
- [111, 0, 106],[111, 266, 360],
- [112, 0, 106],[112, 266, 360],
- [113, 0, 106],[113, 266, 360],
- [114, 0, 106],[114, 266, 360],
- [115, 0, 106],[115, 266, 360],
- [116, 0, 106],[116, 266, 360],
- [117, 0, 107],[117, 266, 360],
- [118, 0, 107],[118, 264, 360],
- [119, 0, 107],[119, 264, 360],
- [120, 0, 107],[120, 260, 360],
- [121, 0, 107],[121, 260, 360],
- [122, 0, 107],[122, 260, 360],
- [123, 0, 110], [123, 260, 360],
- [124, 0, 110], [124, 258, 360],
- [125, 0, 110], [125, 258, 360],
- [126, 0, 110], [126, 258, 360],
- [127, 0, 110], [127, 258, 360],
[1, 0, 360],
[2, 0, 360],
[4, 0, 360],
diff --git a/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_two_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_two_third.param.yaml
index a31c771c..45a57f55 100644
--- a/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_two_third.param.yaml
+++ b/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_two_third.param.yaml
@@ -3,124 +3,6 @@
point_filters: |
{
"ring_section_filter": [
- [0, 0, 95],[0, 270, 360],
- [1, 0, 95],[1, 270, 360],
- [2, 0, 95],[2, 270, 360],
- [3, 0, 95],[3, 270, 360],
- [4, 0, 98],[4, 270, 360],
- [5, 0, 98],[5, 270, 360],
- [6, 0, 98],[6, 270, 360],
- [7, 0, 98],[7, 270, 360],
- [8, 0, 98],[8, 270, 360],
- [9, 0, 99],[9, 270, 360],
- [10, 0, 99],[10, 270, 360],
- [11, 0, 99],[11, 270, 360],
- [12, 0, 99],[12, 270, 360],
- [13, 0, 104],[13, 270, 360],
- [14, 0, 104],[14, 265, 360],
- [15, 0, 104],[15, 265, 360],
- [16, 0, 104],[16, 265, 360],
- [17, 0, 104],[17, 263, 360],
- [18, 0, 103],[18, 263, 360],
- [19, 0, 103],[19, 263, 360],
- [20, 0, 103],[20, 263, 360],
- [21, 0, 103],[21, 263, 360],
- [22, 0, 102],[22, 264, 360],
- [23, 0, 102],[23, 264, 360],
- [24, 0, 102],[24, 264, 360],
- [25, 0, 102],
- [29, 0, 106],
- [30, 0, 106],[30,264, 360],
- [31, 0, 106],[31,264, 360],
- [32, 0, 106],[32,264, 360],
- [33, 0, 106],
- [34, 0, 90],
- [35, 0, 90],
- [36, 0, 102],
- [37, 0, 102],
- [38, 0, 102],
- [39, 0, 102],
- [40, 0, 102],
- [41, 0, 90],
- [42, 0, 90],
- [43, 0, 101],
- [44, 0, 101],[44, 262, 360],
- [45, 0, 101],[45, 262, 360],
- [46, 0, 101],[46, 262, 360],
- [47, 0, 101],[47, 262, 360],
- [50, 0, 106],[50, 268, 360],
- [51, 0, 106],[51, 268, 360],
- [52, 0, 106],[52, 268, 360],
- [53, 0, 106],[53, 268, 360],
- [54, 0, 106],[54, 268, 360],
- [57, 0, 106],[57, 269, 360],
- [58, 0, 106],[58, 269, 360],
- [59, 0, 106],[59, 269, 360],
- [60, 0, 106],[60, 269, 360],
- [61, 0, 106],[61, 269, 360],
- [62, 0, 100],
- [63, 0, 100],
- [64, 0, 100],
- [65, 0, 100],[65, 259.5, 360],
- [66, 0, 100],[66, 259.5, 360],
- [67, 0, 100],[67, 259.5, 360],
- [68, 0, 100],
- [72, 265, 360],
- [73, 265, 360],
- [74, 265, 360],
- [75, 265, 360],
- [76, 265, 360],
- [77, 265, 360],
- [78, 0, 98],[78, 262, 360],
- [79, 0, 98],[79, 262, 360],
- [80, 0, 98],[80, 262, 360],
- [81, 0, 98],[81, 262, 360],
- [82, 0, 98],[82, 262, 360],
- [83, 0, 98],[83, 262, 360],
- [84, 0, 98],[84, 262, 360],
- [85, 0, 98],[85, 262, 360],
- [86, 0, 98],[86, 262, 360],
- [87, 0, 100],[87, 262, 360],
- [88, 0, 100],[88, 262, 360],
- [89, 0, 100],[89, 262, 360],
- [90, 0, 103], [90, 262, 360],
- [91, 0, 103], [91, 266, 360],
- [92, 0, 103], [92, 266, 360],
- [93, 0, 103], [93, 266, 360],
- [94, 0, 106], [94, 266, 360],
- [95, 0, 106],[95, 266, 360],
- [96, 0, 106],[96, 266, 360],
- [97, 0, 106],[97, 266, 360],
- [98, 0, 108],[98, 268, 360],
- [99, 0, 108],[99, 268, 360],
- [100, 0, 108],[100, 268, 360],
- [101, 0, 108],[101, 268, 360],
- [102, 0, 108],[102, 268, 360],
- [103, 0, 108],[103, 268, 360],
- [104, 0, 108],[104, 268, 360],
- [105, 0, 108],[105, 268, 360],
- [106, 0, 108],[106, 266, 360],
- [107, 0, 106],[107, 266, 360],
- [108, 0, 106],[108, 266, 360],
- [109, 0, 106],[109, 266, 360],
- [110, 0, 106],[110, 266, 360],
- [111, 0, 106],[111, 266, 360],
- [112, 0, 106],[112, 266, 360],
- [113, 0, 106],[113, 266, 360],
- [114, 0, 106],[114, 266, 360],
- [115, 0, 106],[115, 266, 360],
- [116, 0, 106],[116, 266, 360],
- [117, 0, 107],[117, 266, 360],
- [118, 0, 107],[118, 264, 360],
- [119, 0, 107],[119, 264, 360],
- [120, 0, 107],[120, 260, 360],
- [121, 0, 107],[121, 260, 360],
- [122, 0, 107],[122, 260, 360],
- [123, 0, 110], [123, 260, 360],
- [124, 0, 110], [124, 258, 360],
- [125, 0, 110], [125, 258, 360],
- [126, 0, 110], [126, 258, 360],
- [127, 0, 110], [127, 258, 360],
[0, 0, 360],
[3, 0, 360],
[6, 0, 360],
diff --git a/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_full.param.yaml b/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_full.param.yaml
index ec2a65e9..c6f269aa 100644
--- a/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_full.param.yaml
+++ b/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_full.param.yaml
@@ -2,59 +2,4 @@
ros__parameters:
point_filters: |
{
- "ring_section_filter": [
- [0, 0, 360],
- [1, 0, 360],
- [2, 0, 360],
- [3, 0, 165],[3, 190, 360],
- [4, 0, 158],[4, 203, 360],
- [5, 0, 157],[5, 205, 360],
- [6, 0, 156],[6, 211, 360],
- [7, 0, 154],[7, 214, 360],
- [8, 0, 152],[8, 217, 360],
- [9, 0, 152],[9, 220, 360],
- [10, 0, 151],[10, 221, 360],
- [11, 0, 151],[11, 226, 360],
- [12, 0, 151],[12, 229, 360],
- [13, 0, 151],[13, 231, 360],
- [14, 0, 150],[14, 232, 360],
- [15, 0, 150],[15, 233, 360],
- [16, 0, 150],[16, 234, 360],
- [17, 0, 147],[17, 235, 360],
- [18, 0, 148],[18, 235, 360],
- [19, 0, 146],[19, 236, 360],
- [20, 97, 143],[20, 240, 360],
- [21, 102, 125],[21, 241, 360],
- [22, 105, 125],[22, 241, 360],
- [23, 105, 125],[23, 244, 360],
- [24, 105, 125],[24, 245, 360],
- [25, 106, 124],[25, 246, 360],
- [26, 107, 123],[26, 247, 360],
- [27, 108, 122],[27, 248, 360],
- [28, 109, 120],[28, 248, 360],
- [29, 110, 118],[29, 250, 360],
- [30, 111, 117],[30, 250, 360],
- [31, 112.5, 116],[31, 251, 360],
- [32, 251, 360],
- [33, 252, 360],
- [34, 252, 360],
- [35, 253, 360],
- [36, 253, 360],
- [37, 254, 360],
- [38, 254, 360],
- [39, 255, 360],
- [40, 255, 360],
- [41, 256, 360],
- [42, 256, 360],
- [43, 257, 360],
- [44, 258, 360],
- [45, 259, 360],
- [46, 264, 360],
- [47, 265, 360],
- [48, 265, 360],
- [49, 266, 360],
- [50, 267, 360],
- [51, 267, 360],
- [52, 268, 360]
- ]
- }
+ }
\ No newline at end of file
diff --git a/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_one_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_one_third.param.yaml
index 6e755be6..075381cc 100644
--- a/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_one_third.param.yaml
+++ b/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_one_third.param.yaml
@@ -3,59 +3,6 @@
point_filters: |
{
"ring_section_filter": [
- [0, 0, 360],
- [1, 0, 360],
- [2, 0, 360],
- [3, 0, 165],[3, 190, 360],
- [4, 0, 158],[4, 203, 360],
- [5, 0, 157],[5, 205, 360],
- [6, 0, 156],[6, 211, 360],
- [7, 0, 154],[7, 214, 360],
- [8, 0, 152],[8, 217, 360],
- [9, 0, 152],[9, 220, 360],
- [10, 0, 151],[10, 221, 360],
- [11, 0, 151],[11, 226, 360],
- [12, 0, 151],[12, 229, 360],
- [13, 0, 151],[13, 231, 360],
- [14, 0, 150],[14, 232, 360],
- [15, 0, 150],[15, 233, 360],
- [16, 0, 150],[16, 234, 360],
- [17, 0, 147],[17, 235, 360],
- [18, 0, 148],[18, 235, 360],
- [19, 0, 146],[19, 236, 360],
- [20, 97, 143],[20, 240, 360],
- [21, 102, 125],[21, 241, 360],
- [22, 105, 125],[22, 241, 360],
- [23, 105, 125],[23, 244, 360],
- [24, 105, 125],[24, 245, 360],
- [25, 106, 124],[25, 246, 360],
- [26, 107, 123],[26, 247, 360],
- [27, 108, 122],[27, 248, 360],
- [28, 109, 120],[28, 248, 360],
- [29, 110, 118],[29, 250, 360],
- [30, 111, 117],[30, 250, 360],
- [31, 112.5, 116],[31, 251, 360],
- [32, 251, 360],
- [33, 252, 360],
- [34, 252, 360],
- [35, 253, 360],
- [36, 253, 360],
- [37, 254, 360],
- [38, 254, 360],
- [39, 255, 360],
- [40, 255, 360],
- [41, 256, 360],
- [42, 256, 360],
- [43, 257, 360],
- [44, 258, 360],
- [45, 259, 360],
- [46, 264, 360],
- [47, 265, 360],
- [48, 265, 360],
- [49, 266, 360],
- [50, 267, 360],
- [51, 267, 360],
- [52, 268, 360],
[1, 0, 360],
[2, 0, 360],
[4, 0, 360],
diff --git a/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_two_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_two_third.param.yaml
index 54889649..45a57f55 100644
--- a/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_two_third.param.yaml
+++ b/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_two_third.param.yaml
@@ -4,59 +4,6 @@
{
"ring_section_filter": [
[0, 0, 360],
- [1, 0, 360],
- [2, 0, 360],
- [3, 0, 165],[3, 190, 360],
- [4, 0, 158],[4, 203, 360],
- [5, 0, 157],[5, 205, 360],
- [6, 0, 156],[6, 211, 360],
- [7, 0, 154],[7, 214, 360],
- [8, 0, 152],[8, 217, 360],
- [9, 0, 152],[9, 220, 360],
- [10, 0, 151],[10, 221, 360],
- [11, 0, 151],[11, 226, 360],
- [12, 0, 151],[12, 229, 360],
- [13, 0, 151],[13, 231, 360],
- [14, 0, 150],[14, 232, 360],
- [15, 0, 150],[15, 233, 360],
- [16, 0, 150],[16, 234, 360],
- [17, 0, 147],[17, 235, 360],
- [18, 0, 148],[18, 235, 360],
- [19, 0, 146],[19, 236, 360],
- [20, 97, 143],[20, 240, 360],
- [21, 102, 125],[21, 241, 360],
- [22, 105, 125],[22, 241, 360],
- [23, 105, 125],[23, 244, 360],
- [24, 105, 125],[24, 245, 360],
- [25, 106, 124],[25, 246, 360],
- [26, 107, 123],[26, 247, 360],
- [27, 108, 122],[27, 248, 360],
- [28, 109, 120],[28, 248, 360],
- [29, 110, 118],[29, 250, 360],
- [30, 111, 117],[30, 250, 360],
- [31, 112.5, 116],[31, 251, 360],
- [32, 251, 360],
- [33, 252, 360],
- [34, 252, 360],
- [35, 253, 360],
- [36, 253, 360],
- [37, 254, 360],
- [38, 254, 360],
- [39, 255, 360],
- [40, 255, 360],
- [41, 256, 360],
- [42, 256, 360],
- [43, 257, 360],
- [44, 258, 360],
- [45, 259, 360],
- [46, 264, 360],
- [47, 265, 360],
- [48, 265, 360],
- [49, 266, 360],
- [50, 267, 360],
- [51, 267, 360],
- [52, 268, 360],
- [0, 0, 360],
[3, 0, 360],
[6, 0, 360],
[9, 0, 360],
diff --git a/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_full.param.yaml b/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_full.param.yaml
index 5e5fb040..c6f269aa 100644
--- a/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_full.param.yaml
+++ b/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_full.param.yaml
@@ -2,121 +2,4 @@
ros__parameters:
point_filters: |
{
- "ring_section_filter": [
- [0, 0, 15],
- [1, 0, 15],
- [2, 0, 15],
- [3, 0, 15],
- [17, 0, 10],
- [18, 0, 10],
- [19, 0, 10],
- [20, 0, 10],
- [21, 0, 10],
- [22, 0, 10],
- [23, 0, 10],
- [24, 0, 10],
- [25, 0, 10],
- [26, 0, 10],
- [27, 0, 10],
- [28, 0, 10],
- [29, 0, 10],
- [30, 0, 15],
- [31, 0, 15],
- [32, 0, 15],
- [33, 0, 10],
- [34, 0, 10],
- [35, 0, 10],
- [36, 0, 10],
- [37, 0, 10],
- [38, 0, 10],
- [39, 0, 10],
- [40, 0, 10],
- [41, 0, 10],
- [42, 0, 10],
- [43, 0, 10],
- [44, 0, 10],
- [45, 0, 25],
- [46, 0, 25],
- [47, 0, 25],
- [48, 0, 26],
- [49, 0, 26],
- [50, 0, 27],
- [51, 0, 40],
- [52, 0, 40],
- [53, 0, 40],
- [54, 0, 40],
- [55, 0, 40],
- [56, 0, 40],
- [57, 0, 45],
- [58, 0, 45],
- [59, 0, 45],
- [60, 0, 45],
- [61, 0, 40],
- [62, 0, 35],
- [63, 0, 35],
- [64, 0, 35],
- [65, 0, 35],
- [66, 0, 40],
- [67, 0, 40],[67, 269, 360],
- [68, 0, 42],[68, 269, 360],
- [69, 0, 42],[69, 269, 360],
- [70, 0, 42],[70, 269, 360],
- [71, 0, 44],[71, 269, 360],
- [72, 0, 44],[72, 269, 360],
- [73, 0, 44],[73, 269, 360],
- [74, 0, 44],[74, 269, 360],
- [75, 0, 44],[75, 269, 360],
- [76, 0, 45],[76, 269, 360],
- [77, 0, 45],[77, 269, 360],
- [78, 0, 45],[78, 269, 360],
- [79, 0, 45],[79, 269, 360],
- [80, 0, 45],[80, 269, 360],
- [81, 0, 45],[81, 269, 360],
- [82, 0, 45],[82, 269, 360],
- [83, 0, 45],[83, 269, 360],
- [84, 0, 45],[84, 269, 360],
- [85, 0, 45],[85, 269, 360],
- [86, 0, 45],[86, 269, 360],
- [87, 0, 45],[87, 269, 360],
- [88, 0, 45],[88, 269, 360],
- [89, 0, 45],[89, 269, 360],
- [90, 0, 45],[90, 269, 360],
- [91, 0, 45],[91, 269, 360],
- [92, 0, 45],[92, 269, 360],
- [93, 0, 44],[93, 269, 360],
- [94, 0, 44],[94, 269, 360],
- [95, 0, 44],[95, 269, 360],
- [96, 0, 44],[96, 269, 360],
- [97, 0, 44],[97, 269, 360],
- [98, 0, 44],[98, 269, 360],
- [99, 0, 44],[99, 269, 360],
- [100, 0, 46],[100, 269, 360],
- [101, 0, 46],[101, 269, 360],
- [102, 0, 46],[102, 269, 360],
- [103, 0, 44],[103, 269, 360],
- [104, 0, 44],[104, 269, 360],
- [105, 0, 44],[105, 269, 360],
- [106, 0, 44],[106, 269, 360],
- [107, 0, 44],[107, 269, 360],
- [108, 0, 46],[108, 269, 360],
- [109, 0, 47],[109, 269, 360],
- [110, 0, 48],[110, 87.78, 89.97],[110, 269, 360],
- [111, 0, 49],[111, 269, 360],
- [112, 0, 50],[112, 269, 360],
- [113, 0, 52],[113, 269, 360],
- [114, 0, 53],[114, 269, 360],
- [115, 0, 54],[115, 269, 360],
- [116, 0, 55],[116, 269, 360],
- [117, 0, 56],[117, 269, 360],
- [118, 0, 57],[118, 269, 360],
- [119, 0, 58],[119, 269, 360],
- [120, 0, 59],[120, 269, 360],
- [121, 0, 61],[121, 269, 360],
- [122, 0, 63],[122, 268, 360],
- [123, 0, 66],[123, 268, 360],
- [124, 0, 69],[124, 268, 360],
- [125, 0, 69],[125, 267, 360],
- [126, 0, 71],[126, 267, 360],
- [127, 0, 72],[127, 267, 360]
- ]
- }
+ }
\ No newline at end of file
diff --git a/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_one_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_one_third.param.yaml
index e903fa97..075381cc 100644
--- a/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_one_third.param.yaml
+++ b/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_one_third.param.yaml
@@ -3,121 +3,6 @@
point_filters: |
{
"ring_section_filter": [
- [0, 0, 15],
- [1, 0, 15],
- [2, 0, 15],
- [3, 0, 15],
- [17, 0, 10],
- [18, 0, 10],
- [19, 0, 10],
- [20, 0, 10],
- [21, 0, 10],
- [22, 0, 10],
- [23, 0, 10],
- [24, 0, 10],
- [25, 0, 10],
- [26, 0, 10],
- [27, 0, 10],
- [28, 0, 10],
- [29, 0, 10],
- [30, 0, 15],
- [31, 0, 15],
- [32, 0, 15],
- [33, 0, 10],
- [34, 0, 10],
- [35, 0, 10],
- [36, 0, 10],
- [37, 0, 10],
- [38, 0, 10],
- [39, 0, 10],
- [40, 0, 10],
- [41, 0, 10],
- [42, 0, 10],
- [43, 0, 10],
- [44, 0, 10],
- [45, 0, 25],
- [46, 0, 25],
- [47, 0, 25],
- [48, 0, 26],
- [49, 0, 26],
- [50, 0, 27],
- [51, 0, 40],
- [52, 0, 40],
- [53, 0, 40],
- [54, 0, 40],
- [55, 0, 40],
- [56, 0, 40],
- [57, 0, 45],
- [58, 0, 45],
- [59, 0, 45],
- [60, 0, 45],
- [61, 0, 40],
- [62, 0, 35],
- [63, 0, 35],
- [64, 0, 35],
- [65, 0, 35],
- [66, 0, 40],
- [67, 0, 40],[67, 269, 360],
- [68, 0, 42],[68, 269, 360],
- [69, 0, 42],[69, 269, 360],
- [70, 0, 42],[70, 269, 360],
- [71, 0, 44],[71, 269, 360],
- [72, 0, 44],[72, 269, 360],
- [73, 0, 44],[73, 269, 360],
- [74, 0, 44],[74, 269, 360],
- [75, 0, 44],[75, 269, 360],
- [76, 0, 45],[76, 269, 360],
- [77, 0, 45],[77, 269, 360],
- [78, 0, 45],[78, 269, 360],
- [79, 0, 45],[79, 269, 360],
- [80, 0, 45],[80, 269, 360],
- [81, 0, 45],[81, 269, 360],
- [82, 0, 45],[82, 269, 360],
- [83, 0, 45],[83, 269, 360],
- [84, 0, 45],[84, 269, 360],
- [85, 0, 45],[85, 269, 360],
- [86, 0, 45],[86, 269, 360],
- [87, 0, 45],[87, 269, 360],
- [88, 0, 45],[88, 269, 360],
- [89, 0, 45],[89, 269, 360],
- [90, 0, 45],[90, 269, 360],
- [91, 0, 45],[91, 269, 360],
- [92, 0, 45],[92, 269, 360],
- [93, 0, 44],[93, 269, 360],
- [94, 0, 44],[94, 269, 360],
- [95, 0, 44],[95, 269, 360],
- [96, 0, 44],[96, 269, 360],
- [97, 0, 44],[97, 269, 360],
- [98, 0, 44],[98, 269, 360],
- [99, 0, 44],[99, 269, 360],
- [100, 0, 46],[100, 269, 360],
- [101, 0, 46],[101, 269, 360],
- [102, 0, 46],[102, 269, 360],
- [103, 0, 44],[103, 269, 360],
- [104, 0, 44],[104, 269, 360],
- [105, 0, 44],[105, 269, 360],
- [106, 0, 44],[106, 269, 360],
- [107, 0, 44],[107, 269, 360],
- [108, 0, 46],[108, 269, 360],
- [109, 0, 47],[109, 269, 360],
- [110, 0, 48],[110, 87.78, 89.97],[110, 269, 360],
- [111, 0, 49],[111, 269, 360],
- [112, 0, 50],[112, 269, 360],
- [113, 0, 52],[113, 269, 360],
- [114, 0, 53],[114, 269, 360],
- [115, 0, 54],[115, 269, 360],
- [116, 0, 55],[116, 269, 360],
- [117, 0, 56],[117, 269, 360],
- [118, 0, 57],[118, 269, 360],
- [119, 0, 58],[119, 269, 360],
- [120, 0, 59],[120, 269, 360],
- [121, 0, 61],[121, 269, 360],
- [122, 0, 63],[122, 268, 360],
- [123, 0, 66],[123, 268, 360],
- [124, 0, 69],[124, 268, 360],
- [125, 0, 69],[125, 267, 360],
- [126, 0, 71],[126, 267, 360],
- [127, 0, 72],[127, 267, 360],
[1, 0, 360],
[2, 0, 360],
[4, 0, 360],
diff --git a/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_two_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_two_third.param.yaml
index 015d8cfc..45a57f55 100644
--- a/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_two_third.param.yaml
+++ b/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_two_third.param.yaml
@@ -3,121 +3,6 @@
point_filters: |
{
"ring_section_filter": [
- [0, 0, 15],
- [1, 0, 15],
- [2, 0, 15],
- [3, 0, 15],
- [17, 0, 10],
- [18, 0, 10],
- [19, 0, 10],
- [20, 0, 10],
- [21, 0, 10],
- [22, 0, 10],
- [23, 0, 10],
- [24, 0, 10],
- [25, 0, 10],
- [26, 0, 10],
- [27, 0, 10],
- [28, 0, 10],
- [29, 0, 10],
- [30, 0, 15],
- [31, 0, 15],
- [32, 0, 15],
- [33, 0, 10],
- [34, 0, 10],
- [35, 0, 10],
- [36, 0, 10],
- [37, 0, 10],
- [38, 0, 10],
- [39, 0, 10],
- [40, 0, 10],
- [41, 0, 10],
- [42, 0, 10],
- [43, 0, 10],
- [44, 0, 10],
- [45, 0, 25],
- [46, 0, 25],
- [47, 0, 25],
- [48, 0, 26],
- [49, 0, 26],
- [50, 0, 27],
- [51, 0, 40],
- [52, 0, 40],
- [53, 0, 40],
- [54, 0, 40],
- [55, 0, 40],
- [56, 0, 40],
- [57, 0, 45],
- [58, 0, 45],
- [59, 0, 45],
- [60, 0, 45],
- [61, 0, 40],
- [62, 0, 35],
- [63, 0, 35],
- [64, 0, 35],
- [65, 0, 35],
- [66, 0, 40],
- [67, 0, 40],[67, 269, 360],
- [68, 0, 42],[68, 269, 360],
- [69, 0, 42],[69, 269, 360],
- [70, 0, 42],[70, 269, 360],
- [71, 0, 44],[71, 269, 360],
- [72, 0, 44],[72, 269, 360],
- [73, 0, 44],[73, 269, 360],
- [74, 0, 44],[74, 269, 360],
- [75, 0, 44],[75, 269, 360],
- [76, 0, 45],[76, 269, 360],
- [77, 0, 45],[77, 269, 360],
- [78, 0, 45],[78, 269, 360],
- [79, 0, 45],[79, 269, 360],
- [80, 0, 45],[80, 269, 360],
- [81, 0, 45],[81, 269, 360],
- [82, 0, 45],[82, 269, 360],
- [83, 0, 45],[83, 269, 360],
- [84, 0, 45],[84, 269, 360],
- [85, 0, 45],[85, 269, 360],
- [86, 0, 45],[86, 269, 360],
- [87, 0, 45],[87, 269, 360],
- [88, 0, 45],[88, 269, 360],
- [89, 0, 45],[89, 269, 360],
- [90, 0, 45],[90, 269, 360],
- [91, 0, 45],[91, 269, 360],
- [92, 0, 45],[92, 269, 360],
- [93, 0, 44],[93, 269, 360],
- [94, 0, 44],[94, 269, 360],
- [95, 0, 44],[95, 269, 360],
- [96, 0, 44],[96, 269, 360],
- [97, 0, 44],[97, 269, 360],
- [98, 0, 44],[98, 269, 360],
- [99, 0, 44],[99, 269, 360],
- [100, 0, 46],[100, 269, 360],
- [101, 0, 46],[101, 269, 360],
- [102, 0, 46],[102, 269, 360],
- [103, 0, 44],[103, 269, 360],
- [104, 0, 44],[104, 269, 360],
- [105, 0, 44],[105, 269, 360],
- [106, 0, 44],[106, 269, 360],
- [107, 0, 44],[107, 269, 360],
- [108, 0, 46],[108, 269, 360],
- [109, 0, 47],[109, 269, 360],
- [110, 0, 48],[110, 87.78, 89.97],[110, 269, 360],
- [111, 0, 49],[111, 269, 360],
- [112, 0, 50],[112, 269, 360],
- [113, 0, 52],[113, 269, 360],
- [114, 0, 53],[114, 269, 360],
- [115, 0, 54],[115, 269, 360],
- [116, 0, 55],[116, 269, 360],
- [117, 0, 56],[117, 269, 360],
- [118, 0, 57],[118, 269, 360],
- [119, 0, 58],[119, 269, 360],
- [120, 0, 59],[120, 269, 360],
- [121, 0, 61],[121, 269, 360],
- [122, 0, 63],[122, 268, 360],
- [123, 0, 66],[123, 268, 360],
- [124, 0, 69],[124, 268, 360],
- [125, 0, 69],[125, 267, 360],
- [126, 0, 71],[126, 267, 360],
- [127, 0, 72],[127, 267, 360],
[0, 0, 360],
[3, 0, 360],
[6, 0, 360],
diff --git a/aip_x2_gen2_launch/launch/lidar.launch.xml b/aip_x2_gen2_launch/launch/lidar.launch.xml
index 6065d9fd..111a3a98 100644
--- a/aip_x2_gen2_launch/launch/lidar.launch.xml
+++ b/aip_x2_gen2_launch/launch/lidar.launch.xml
@@ -35,8 +35,8 @@
-
-
+
+
@@ -68,7 +68,9 @@
-
+
+
+
@@ -100,8 +102,8 @@
-
-
+
+
@@ -132,8 +134,8 @@
-
-
+
+
@@ -165,8 +167,8 @@
-
-
+
+
@@ -197,8 +199,10 @@
+
+
-
+
@@ -229,8 +233,8 @@
-
-
+
+
@@ -261,8 +265,8 @@
-
-
+
+