Fixed to run lidar driver

Signed-off-by: Shintaro Sakoda <[email protected]>
tier4 · Feb 10, 2025 · a0957f9 · a0957f9
1 parent 028e3eb
commit a0957f9
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Showing 2 changed files with 9 additions and 2 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 -->