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chore(aip_x2_gen2_launch): remove distance_range #376

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Jan 28, 2025
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2 changes: 0 additions & 2 deletions aip_x2_gen2_launch/launch/hesai_OT128.launch.xml
Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,6 @@
<arg name="setup_sensor" default="true"/>
<arg name="min_range" default="0.3"/>
<arg name="max_range" default="230.0"/>
<arg name="distance_range" default="[0.3, 230.0]"/>
<arg name="blockage_range" default="[90.0, 270.0]"/>
<arg name="vertical_bins" default ="128" />
<arg name="horizontal_ring_id" default="12" />
Expand Down Expand Up @@ -60,7 +59,6 @@

<arg name="min_range" value="$(var min_range)"/>
<arg name="max_range" value="$(var max_range)"/>
<arg name="distance_range" value="$(var distance_range)"/>
<arg name="blockage_range" value="$(var blockage_range)"/>
<arg name="vertical_bins" value ="$(var vertical_bins)"/>
<arg name="horizontal_ring_id" value="$(var horizontal_ring_id)" />
Expand Down
2 changes: 0 additions & 2 deletions aip_x2_gen2_launch/launch/hesai_QT128.launch.xml
Original file line number Diff line number Diff line change
Expand Up @@ -22,7 +22,6 @@
<arg name="container_name" default="hesai_node_container"/>
<arg name="min_range" default="0.05"/>
<arg name="max_range" default="50.0"/>
<arg name="distance_range" default="[0.05, 50.0]"/>
<arg name="blockage_range" default="[90.0, 270.0]"/>
<arg name="vertical_bins" default ="128" />
<arg name="horizontal_ring_id" default="12" />
Expand Down Expand Up @@ -59,7 +58,6 @@
<arg name="container_name" value="$(var container_name)"/>
<arg name="min_range" value="$(var min_range)"/>
<arg name="max_range" value="$(var max_range)"/>
<arg name="distance_range" value="$(var distance_range)"/>
<arg name="blockage_range" value="$(var blockage_range)"/>
<arg name="vertical_bins" value ="$(var vertical_bins)"/>
<arg name="horizontal_ring_id" value="$(var horizontal_ring_id)" />
Expand Down
3 changes: 1 addition & 2 deletions aip_x2_gen2_launch/launch/nebula_node_container.launch.py
Original file line number Diff line number Diff line change
Expand Up @@ -191,7 +191,6 @@ def str2vector(string):
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
)

distance_range = str2vector(context.perform_substitution(LaunchConfiguration("distance_range")))
blockage_diag_component = ComposableNode(
package="pointcloud_preprocessor",
plugin="pointcloud_preprocessor::BlockageDiagComponent",
Expand All @@ -206,7 +205,7 @@ def str2vector(string):
"horizontal_ring_id": LaunchConfiguration("horizontal_ring_id"),
"vertical_bins": LaunchConfiguration("vertical_bins"),
"is_channel_order_top2down": LaunchConfiguration("is_channel_order_top2down"),
"max_distance_range": distance_range[1],
"max_distance_range": LaunchConfiguration("max_range"),
"horizontal_resolution": LaunchConfiguration("horizontal_resolution"),
}
]
Expand Down
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