From 622fecf0b9338d62ff9111c2c182ad2b5d9a4301 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E5=BC=A0=E7=85=9C?= <zhangyu@hesaitech.com>
Date: Mon, 5 Dec 2022 19:16:28 +0800
Subject: [PATCH] V1.0.36 update launch file

---
 pandar_pointcloud/launch/PandarSwift_points.launch | 2 +-
 pandar_pointcloud/launch/cloud_nodelet.launch      | 2 ++
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/pandar_pointcloud/launch/PandarSwift_points.launch b/pandar_pointcloud/launch/PandarSwift_points.launch
index 29fa3ad..c91ef2c 100644
--- a/pandar_pointcloud/launch/PandarSwift_points.launch
+++ b/pandar_pointcloud/launch/PandarSwift_points.launch
@@ -21,7 +21,7 @@
   <arg name="start_angle" default="0.0" />
   <arg name="publish_model" default="both_point_raw" />
   <arg name="namespace" default="hesai"/>
-  <arg name="multicast_ip"  default="239.0.0.2"/>
+  <arg name="multicast_ip"  default=""/>
   <arg name="coordinate_correction_flag" default="false" />
   <arg name="channel_config_file" default="$(find pandar_pointcloud)/params/QT128C2X_Channel_Cofig.csv" />
   <!--"cert_file" represents the path of the user's certificate-->
diff --git a/pandar_pointcloud/launch/cloud_nodelet.launch b/pandar_pointcloud/launch/cloud_nodelet.launch
index 991f932..aa3e8d6 100644
--- a/pandar_pointcloud/launch/cloud_nodelet.launch
+++ b/pandar_pointcloud/launch/cloud_nodelet.launch
@@ -20,6 +20,7 @@
   <arg name="firetime_file"  default="$(find pandar_pointcloud)/params/Pandar128_Firetimes.csv"/>
   <arg name="namespace" default="hesai"/>
   <arg name="coordinate_correction_flag" default="false" />
+  <arg name="multicast_ip"  default=""/>
   <arg name="channel_config_file" default="$(find pandar_pointcloud)/params/QT128C2X_Channel_Cofig.csv" />
   <arg name="cert_file" default="" />
   <arg name="private_key_file" default="" />
@@ -49,6 +50,7 @@
     <param name="cert_file" value="$(arg cert_file)" />
     <param name="private_key_file" value="$(arg private_key_file)" />
     <param name="ca_file" value="$(arg ca_file)" />
+    <param name="multicast_ip" value="$(arg multicast_ip)"/>
   </node>
 
   <!--node pkg="nodelet" type="nodelet" name="$(arg manager)_color"