fix velodyne launch (autowarefoundation#73)

* fix velodyne launch * fix bug * add scan_phase arg
tkimura4 · Mar 2, 2021 · aa241cf · aa241cf
1 parent 3331f97
commit aa241cf
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Showing 4 changed files with 20 additions and 0 deletions.
diff --git a/sensing_launch/launch/velodyne_VLP16.launch.xml b/sensing_launch/launch/velodyne_VLP16.launch.xml
@@ -11,6 +11,9 @@
   <arg name="sensor_frame" default="velodyne" />
   <arg name="device_ip" default="192.168.1.201"/>
   <arg name="port" default="2368"/>
+  <arg name="scan_phase" default="0.0"/>
+  <arg name="vehicle_param_file" />
+  <arg name="vehicle_mirror_param_file" />
 
   <include file="$(find-pkg-share sensing_launch)/launch/velodyne_node_container.launch.py">
     <arg name="launch_driver" value="$(var launch_driver)"/>
@@ -22,6 +25,9 @@
     <arg name="frame_id" value="$(var sensor_frame)"/>
     <arg name="device_ip" value="$(var device_ip)"/>
     <arg name="port" value="$(var port)"/>
+    <arg name="scan_phase" value="$(var scan_phase)"/>
+    <arg name="vehicle_param_file" value="$(var vehicle_param_file)" />
+    <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
   </include>
 
   <!-- Velodyne Monitor -->

diff --git a/sensing_launch/launch/velodyne_VLP32C.launch.xml b/sensing_launch/launch/velodyne_VLP32C.launch.xml
@@ -11,6 +11,9 @@
   <arg name="sensor_frame" default="velodyne" />
   <arg name="device_ip" default="192.168.1.201"/>
   <arg name="port" default="2368"/>
+  <arg name="scan_phase" default="0.0"/>
+  <arg name="vehicle_param_file" />
+  <arg name="vehicle_mirror_param_file" />
 
   <include file="$(find-pkg-share sensing_launch)/launch/velodyne_node_container.launch.py">
     <arg name="launch_driver" value="$(var launch_driver)"/>
@@ -22,6 +25,9 @@
     <arg name="frame_id" value="$(var sensor_frame)"/>
     <arg name="device_ip" value="$(var device_ip)"/>
     <arg name="port" value="$(var port)"/>
+    <arg name="scan_phase" value="$(var scan_phase)"/>
+    <arg name="vehicle_param_file" value="$(var vehicle_param_file)" />
+    <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
   </include>
 
   <!-- Velodyne Monitor -->

diff --git a/sensing_launch/launch/velodyne_VLS128.launch.xml b/sensing_launch/launch/velodyne_VLS128.launch.xml
@@ -11,6 +11,9 @@
   <arg name="sensor_frame" default="velodyne" />
   <arg name="device_ip" default="192.168.1.201"/>
   <arg name="port" default="2368"/>
+  <arg name="scan_phase" default="0.0"/>
+  <arg name="vehicle_param_file" />
+  <arg name="vehicle_mirror_param_file" />
 
   <include file="$(find-pkg-share sensing_launch)/launch/velodyne_node_container.launch.py">
     <arg name="launch_driver" value="$(var launch_driver)"/>
@@ -22,6 +25,9 @@
     <arg name="frame_id" value="$(var sensor_frame)"/>
     <arg name="device_ip" value="$(var device_ip)"/>
     <arg name="port" value="$(var port)"/>
+    <arg name="scan_phase" value="$(var scan_phase)"/>
+    <arg name="vehicle_param_file" value="$(var vehicle_param_file)" />
+    <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
   </include>
 
   <!-- Velodyne Monitor -->

diff --git a/sensing_launch/launch/velodyne_node_container.launch.py b/sensing_launch/launch/velodyne_node_container.launch.py
@@ -211,4 +211,6 @@ def add_launch_arg(name: str, default_value=None):
     add_launch_arg('gps_time', 'False')
     add_launch_arg('input_frame', LaunchConfiguration('base_frame'))
     add_launch_arg('output_frame', LaunchConfiguration('base_frame'))
+    add_launch_arg('vehicle_param_file')
+    add_launch_arg('vehicle_mirror_param_file')
     return launch.LaunchDescription(launch_arguments + [OpaqueFunction(function=launch_setup)])