fix: to run with udp awsim (#390)

* now it can launch * Fixed to run lidar driver Signed-off-by: Shintaro Sakoda <[email protected]> * ci(pre-commit): autofix --------- Signed-off-by: Shintaro Sakoda <[email protected]> Co-authored-by: jpntaxi2 <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
tier4 · Feb 12, 2025 · 6ebfda0 · 6ebfda0
1 parent 21efc83
commit 6ebfda0
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Showing 3 changed files with 29 additions and 46 deletions.
diff --git a/aip_xx1_launch/launch/lidar.launch.xml b/aip_xx1_launch/launch/lidar.launch.xml
@@ -3,10 +3,11 @@
   <arg name="launch_driver" default="true"/>
   <arg name="host_ip" default="192.168.1.10"/>
   <arg name="use_concat_filter" default="true"/>
-  <arg name ="vehicle_id" default="$(env VEHICLE_ID default)"/>
+  <arg name="vehicle_id" default="$(env VEHICLE_ID default)"/>
   <arg name="vehicle_mirror_param_file"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name="enable_blockage_diag" default="true"/>
+  <arg name="udp_only" default="false"/>
 
   <group>
     <push-ros-namespace namespace="lidar"/>
@@ -21,6 +22,7 @@
         <arg name="data_port" value="2368"/>
         <arg name="scan_phase" value="300.0"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
+        <arg name="udp_only" value="$(var udp_only)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="pointcloud_container"/>
         <arg name="vertical_bins" value="128"/>
@@ -43,6 +45,7 @@
         <arg name="cloud_min_angle" value="300"/>
         <arg name="cloud_max_angle" value="60"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
+        <arg name="udp_only" value="$(var udp_only)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="pointcloud_container"/>
         <arg name="vertical_bins" value="16"/>
@@ -65,6 +68,7 @@
         <arg name="cloud_min_angle" value="300"/>
         <arg name="cloud_max_angle" value="60"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
+        <arg name="udp_only" value="$(var udp_only)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="pointcloud_container"/>
         <arg name="vertical_bins" value="16"/>
@@ -87,6 +91,7 @@
         <arg name="cloud_min_angle" value="300"/>
         <arg name="cloud_max_angle" value="60"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
+        <arg name="udp_only" value="$(var udp_only)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="pointcloud_container"/>
         <arg name="vertical_bins" value="16"/>

diff --git a/aip_xx1_launch/launch/sensing.launch.xml b/aip_xx1_launch/launch/sensing.launch.xml
@@ -4,7 +4,8 @@
   <arg name="vehicle_mirror_param_file" description="path to the file of vehicle mirror position yaml"/>
   <arg name="perception_mode" default="camera_lidar_fusion" description="select perception mode. camera_lidar_fusion, lidar, camera"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
-  <arg name ="vehicle_id" default="$(env VEHICLE_ID default)" />
+  <arg name="vehicle_id" default="$(env VEHICLE_ID default)"/>
+  <arg name="udp_only" default="false"/>
 
   <group>
 
@@ -13,6 +14,7 @@
       <arg name="launch_driver" value="$(var launch_driver)" />
       <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+      <arg name="udp_only" value="$(var udp_only)"/>
     </include>
 
     <!-- Camera Driver -->

diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py
@@ -127,20 +127,27 @@ def create_parameter_dict(*args):
                     **create_parameter_dict(
                         "host_ip",
                         "sensor_ip",
+                        "multicast_ip",
+                        "advanced_diagnostics",
                         "data_port",
-                        "gnss_port",
                         "return_mode",
                         "min_range",
                         "max_range",
                         "frame_id",
                         "scan_phase",
-                        "cloud_min_angle",
-                        "cloud_max_angle",
                         "dual_return_distance_threshold",
                         "rotation_speed",
+                        "cloud_min_angle",
+                        "cloud_max_angle",
+                        "gnss_port",
                         "packet_mtu_size",
                         "setup_sensor",
                         "udp_only",
+                        "ptp_profile",
+                        "ptp_transport_type",
+                        "ptp_switch_type",
+                        "ptp_domain",
+                        "diag_span",
                     ),
                 },
             ],
@@ -248,40 +255,6 @@ def create_parameter_dict(*args):
         output="both",
     )
 
-    driver_component = ComposableNode(
-        package="nebula_ros",
-        plugin=sensor_make + "HwInterfaceRosWrapper",
-        # node is created in a global context, need to avoid name clash
-        name=sensor_make.lower() + "_hw_interface_ros_wrapper_node",
-        parameters=[
-            {
-                "sensor_model": sensor_model,
-                "calibration_file": sensor_calib_fp,
-                **create_parameter_dict(
-                    "sensor_ip",
-                    "host_ip",
-                    "scan_phase",
-                    "return_mode",
-                    "frame_id",
-                    "rotation_speed",
-                    "data_port",
-                    "gnss_port",
-                    "cloud_min_angle",
-                    "cloud_max_angle",
-                    "packet_mtu_size",
-                    "dual_return_distance_threshold",
-                    "setup_sensor",
-                    "ptp_profile",
-                    "ptp_transport_type",
-                    "ptp_switch_type",
-                    "ptp_domain",
-                    "ptp_lock_threshold",
-                    "retry_hw",
-                ),
-            }
-        ],
-    )
-
     blockage_diag_component = ComposableNode(
         package="autoware_pointcloud_preprocessor",
         plugin="autoware::pointcloud_preprocessor::BlockageDiagComponent",
@@ -307,18 +280,13 @@ def create_parameter_dict(*args):
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )
 
-    driver_component_loader = LoadComposableNodes(
-        composable_node_descriptions=[driver_component],
-        target_container=container,
-        condition=IfCondition(LaunchConfiguration("launch_driver")),
-    )
     blockage_diag_loader = LoadComposableNodes(
         composable_node_descriptions=[blockage_diag_component],
         target_container=container,
         condition=IfCondition(LaunchConfiguration("enable_blockage_diag")),
     )
 
-    return [container, driver_component_loader, blockage_diag_loader]
+    return [container, blockage_diag_loader]
 
 
 def generate_launch_description():
@@ -339,8 +307,14 @@ def add_launch_arg(name: str, default_value=None, description=None):
     add_launch_arg("udp_only", "False", "use UDP only")
     add_launch_arg("retry_hw", "false", "retry hw")
     add_launch_arg("sensor_ip", "192.168.1.201", "device ip address")
+    add_launch_arg(
+        "multicast_ip",
+        "",
+        "the multicast group the sensor shall broadcast to. leave empty to disable multicast",
+    )
     add_launch_arg("host_ip", "255.255.255.255", "host ip address")
-    add_launch_arg("scan_phase", "0.0")
+    add_launch_arg("sync_angle", "0")
+    add_launch_arg("cut_angle", "0.0")
     add_launch_arg("base_frame", "base_link", "base frame id")
     add_launch_arg("min_range", "0.3", "minimum view range for Velodyne sensors")
     add_launch_arg("max_range", "300.0", "maximum view range for Velodyne sensors")
@@ -354,6 +328,8 @@ def add_launch_arg(name: str, default_value=None, description=None):
     add_launch_arg("frame_id", "lidar", "frame id")
     add_launch_arg("input_frame", LaunchConfiguration("base_frame"), "use for cropbox")
     add_launch_arg("output_frame", LaunchConfiguration("base_frame"), "use for cropbox")
+    add_launch_arg("diag_span", "1000")
+    add_launch_arg("advanced_diagnostics", "false")
     add_launch_arg("use_multithread", "False", "use multithread")
     add_launch_arg("use_intra_process", "False", "use ROS 2 component container communication")
     add_launch_arg("lidar_container_name", "nebula_node_container")