From 79efd42229c0037a940f25756ee65ce12274ac5d Mon Sep 17 00:00:00 2001
From: Yuki Takagi <yuki.takagi@tier4.jp>
Date: Thu, 15 Feb 2024 15:05:04 +0900
Subject: [PATCH] update settings

Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>
---
 .../config/sensors_calibration.yaml           | 14 ++++-----
 aip_xx1_launch/launch/lidar.launch.xml        | 30 +++++++++----------
 2 files changed, 22 insertions(+), 22 deletions(-)

diff --git a/aip_xx1_description/config/sensors_calibration.yaml b/aip_xx1_description/config/sensors_calibration.yaml
index 4ae5a152..95a93435 100644
--- a/aip_xx1_description/config/sensors_calibration.yaml
+++ b/aip_xx1_description/config/sensors_calibration.yaml
@@ -6,21 +6,21 @@ base_link:
     roll: 0.0
     pitch: 0.0
     yaw: 0.0
-  hesai_front_right_base_link:
+  hesai_front_left_base_link:
     x: 3.373 # Design Value
-    y: -0.740 # Design Value
+    y: 0.740 # Design Value
     z: 0.5482
     roll: 0.0 # Design Value
     pitch: 0.0 # Design Value
-    yaw: -0.872665 # Design Value
-  hesai_front_left_base_link:
+    yaw: 0.872665 # Design Value
+  hesai_front_right_base_link:
     x: 3.373 # Design Value
-    y: 0.740 # Design Value
+    y: -0.740 # Design Value
     z: 0.5482
     roll: 0.0 # Design Value
     pitch: 0.0 # Design Value
-    yaw: 0.872665 # Design Value
-  velodyne_rear_base_link:
+    yaw: -0.872665 # Design Value
+  velodyne_rear_base_link: #unused
     x: -0.358
     y: 0.0
     z: 1.631
diff --git a/aip_xx1_launch/launch/lidar.launch.xml b/aip_xx1_launch/launch/lidar.launch.xml
index 89acee3a..be1772f8 100644
--- a/aip_xx1_launch/launch/lidar.launch.xml
+++ b/aip_xx1_launch/launch/lidar.launch.xml
@@ -14,12 +14,12 @@
     <group>
       <push-ros-namespace namespace="top"/>
       <include file="$(find-pkg-share common_sensor_launch)/launch/velodyne_VLS128.launch.xml">
-        <arg name="max_range" value="250.0"/>
-        <arg name="sensor_frame" value="velodyne_top"/>
+        <!-- <arg name="max_range" value="250.0"/> -->
+        <arg name="sensor_frame" value="hesai_top"/>
         <arg name="sensor_ip" value="192.168.1.201"/>
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2368"/>
-        <arg name="scan_phase" value="300.0"/>
+        <arg name="scan_phase" value="160.0"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="pointcloud_container"/>
@@ -29,12 +29,12 @@
     <group>
       <push-ros-namespace namespace="front_left"/>
       <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launchxml">
-        <arg name="max_range" value="5.0"/>
-        <arg name="sensor_frame" value="velodyne_left"/>
+        <!-- <arg name="max_range" value="5.0"/> -->
+        <arg name="sensor_frame" value="hesai_front_left"/>
         <arg name="sensor_ip" value="192.168.2.21"/>
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2369"/>
-        <arg name="scan_phase" value="180.0"/>
+        <arg name="scan_phase" value="230.0"/>
         <arg name="cloud_min_angle" value="50"/>
         <arg name="cloud_max_angle" value="320"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
@@ -46,12 +46,12 @@
     <group>
       <push-ros-namespace namespace="front_right"/>
       <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launch.xml">
-        <arg name="max_range" value="5.0"/>
-        <arg name="sensor_frame" value="velodyne_right"/>
+        <!-- <arg name="max_range" value="5.0"/> -->
+        <arg name="sensor_frame" value="hesai_front_right"/>
         <arg name="sensor_ip" value="192.168.2.22"/>
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2370"/>
-        <arg name="scan_phase" value="180.0"/>
+        <arg name="scan_phase" value="130.0"/>
         <arg name="cloud_min_angle" value="40"/>
         <arg name="cloud_max_angle" value="310"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
@@ -63,12 +63,12 @@
     <group>
       <push-ros-namespace namespace="side_left"/>
       <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launchxml">
-        <arg name="max_range" value="5.0"/>
-        <arg name="sensor_frame" value="velodyne_left"/>
+        <!-- <arg name="max_range" value="5.0"/> -->
+        <arg name="sensor_frame" value="hesai_left"/>
         <arg name="sensor_ip" value="192.168.2.23"/>
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2371"/>
-        <arg name="scan_phase" value="180.0"/>
+        <arg name="scan_phase" value="270.0"/>
         <arg name="cloud_min_angle" value="90"/>
         <arg name="cloud_max_angle" value="270"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
@@ -80,12 +80,12 @@
     <group>
       <push-ros-namespace namespace="side_right"/>
       <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launch.xml">
-        <arg name="max_range" value="5.0"/>
-        <arg name="sensor_frame" value="velodyne_right"/>
+        <!-- <arg name="max_range" value="5.0"/> -->
+        <arg name="sensor_frame" value="hesai_right"/>
         <arg name="sensor_ip" value="192.168.2.24"/>
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2372"/>
-        <arg name="scan_phase" value="180.0"/>
+        <arg name="scan_phase" value="90.0"/>
         <arg name="cloud_min_angle" value="90"/>
         <arg name="cloud_max_angle" value="270"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>