From d2eca6369f3af37211d837a8f80bdd2f2f4a64d7 Mon Sep 17 00:00:00 2001 From: kotaro-hihara Date: Wed, 9 Oct 2024 19:22:39 +0900 Subject: [PATCH 01/20] folder for point_filters config yaml --- .../front_lower/point_filters_full.param.yaml | 5 + .../point_filters_one_third.param.yaml | 92 +++++++++++++++++++ .../point_filters_two_third.param.yaml | 50 ++++++++++ .../front_upper/point_filters_full.param.yaml | 5 + .../point_filters_one_third.param.yaml | 92 +++++++++++++++++++ .../point_filters_two_third.param.yaml | 50 ++++++++++ .../left_lower/point_filters_full.param.yaml | 5 + .../point_filters_one_third.param.yaml | 92 +++++++++++++++++++ .../point_filters_two_third.param.yaml | 50 ++++++++++ .../left_upper/point_filters_full.param.yaml | 5 + .../point_filters_one_third.param.yaml | 92 +++++++++++++++++++ .../point_filters_two_third.param.yaml | 50 ++++++++++ .../rear_lower/point_filters_full.param.yaml | 5 + .../point_filters_one_third.param.yaml | 92 +++++++++++++++++++ .../point_filters_two_third.param.yaml | 50 ++++++++++ .../rear_upper/point_filters_full.param.yaml | 5 + .../point_filters_one_third.param.yaml | 92 +++++++++++++++++++ .../point_filters_two_third.param.yaml | 50 ++++++++++ .../right_lower/point_filters_full.param.yaml | 5 + .../point_filters_one_third.param.yaml | 92 +++++++++++++++++++ .../point_filters_two_third.param.yaml | 50 ++++++++++ .../right_upper/point_filters_full.param.yaml | 5 + .../point_filters_one_third.param.yaml | 92 +++++++++++++++++++ .../point_filters_two_third.param.yaml | 50 ++++++++++ 24 files changed, 1176 insertions(+) create mode 100644 aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_full.param.yaml create mode 100644 aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_one_third.param.yaml create mode 100644 aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_two_third.param.yaml create mode 100644 aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_full.param.yaml create mode 100644 aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_one_third.param.yaml create mode 100644 aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_two_third.param.yaml create mode 100644 aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_full.param.yaml create mode 100644 aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_one_third.param.yaml create mode 100644 aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_two_third.param.yaml create mode 100644 aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_full.param.yaml create mode 100644 aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_one_third.param.yaml create mode 100644 aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_two_third.param.yaml create mode 100644 aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_full.param.yaml create mode 100644 aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_one_third.param.yaml create mode 100644 aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_two_third.param.yaml create mode 100644 aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_full.param.yaml create mode 100644 aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_one_third.param.yaml create mode 100644 aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_two_third.param.yaml create mode 100644 aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_full.param.yaml create mode 100644 aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_one_third.param.yaml create mode 100644 aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_two_third.param.yaml create mode 100644 aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_full.param.yaml create mode 100644 aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_one_third.param.yaml create mode 100644 aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_two_third.param.yaml diff --git a/aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_full.param.yaml b/aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_full.param.yaml new file mode 100644 index 00000000..7ff58606 --- /dev/null +++ b/aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_full.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + point_filters: | + { + } diff --git a/aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_one_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_one_third.param.yaml new file mode 100644 index 00000000..075381cc --- /dev/null +++ b/aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_one_third.param.yaml @@ -0,0 +1,92 @@ +/**: + ros__parameters: + point_filters: | + { + "ring_section_filter": [ + [1, 0, 360], + [2, 0, 360], + [4, 0, 360], + [5, 0, 360], + [7, 0, 360], + [8, 0, 360], + [10, 0, 360], + [11, 0, 360], + [13, 0, 360], + [14, 0, 360], + [16, 0, 360], + [17, 0, 360], + [19, 0, 360], + [20, 0, 360], + [22, 0, 360], + [23, 0, 360], + [25, 0, 360], + [26, 0, 360], + [28, 0, 360], + [29, 0, 360], + [31, 0, 360], + [32, 0, 360], + [34, 0, 360], + [35, 0, 360], + [37, 0, 360], + [38, 0, 360], + [40, 0, 360], + [41, 0, 360], + [43, 0, 360], + [44, 0, 360], + [46, 0, 360], + [47, 0, 360], + [49, 0, 360], + [50, 0, 360], + [52, 0, 360], + [53, 0, 360], + [55, 0, 360], + [56, 0, 360], + [58, 0, 360], + [59, 0, 360], + [61, 0, 360], + [62, 0, 360], + [64, 0, 360], + [65, 0, 360], + [67, 0, 360], + [68, 0, 360], + [70, 0, 360], + [71, 0, 360], + [73, 0, 360], + [74, 0, 360], + [76, 0, 360], + [77, 0, 360], + [79, 0, 360], + [80, 0, 360], + [82, 0, 360], + [83, 0, 360], + [85, 0, 360], + [86, 0, 360], + [88, 0, 360], + [89, 0, 360], + [91, 0, 360], + [92, 0, 360], + [94, 0, 360], + [95, 0, 360], + [97, 0, 360], + [98, 0, 360], + [100, 0, 360], + [101, 0, 360], + [103, 0, 360], + [104, 0, 360], + [106, 0, 360], + [107, 0, 360], + [109, 0, 360], + [110, 0, 360], + [112, 0, 360], + [113, 0, 360], + [115, 0, 360], + [116, 0, 360], + [118, 0, 360], + [119, 0, 360], + [121, 0, 360], + [122, 0, 360], + [124, 0, 360], + [125, 0, 360], + [127, 0, 360] + ] + } diff --git a/aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_two_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_two_third.param.yaml new file mode 100644 index 00000000..45a57f55 --- /dev/null +++ b/aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_two_third.param.yaml @@ -0,0 +1,50 @@ +/**: + ros__parameters: + point_filters: | + { + "ring_section_filter": [ + [0, 0, 360], + [3, 0, 360], + [6, 0, 360], + [9, 0, 360], + [12, 0, 360], + [15, 0, 360], + [18, 0, 360], + [21, 0, 360], + [24, 0, 360], + [27, 0, 360], + [30, 0, 360], + [33, 0, 360], + [36, 0, 360], + [39, 0, 360], + [42, 0, 360], + [45, 0, 360], + [48, 0, 360], + [51, 0, 360], + [54, 0, 360], + [57, 0, 360], + [60, 0, 360], + [63, 0, 360], + [66, 0, 360], + [69, 0, 360], + [72, 0, 360], + [75, 0, 360], + [78, 0, 360], + [81, 0, 360], + [84, 0, 360], + [87, 0, 360], + [90, 0, 360], + [93, 0, 360], + [96, 0, 360], + [99, 0, 360], + [102, 0, 360], + [105, 0, 360], + [108, 0, 360], + [111, 0, 360], + [114, 0, 360], + [117, 0, 360], + [120, 0, 360], + [123, 0, 360], + [126, 0, 360] + ] + } diff --git a/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_full.param.yaml b/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_full.param.yaml new file mode 100644 index 00000000..7ff58606 --- /dev/null +++ b/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_full.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + point_filters: | + { + } diff --git a/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_one_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_one_third.param.yaml new file mode 100644 index 00000000..075381cc --- /dev/null +++ b/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_one_third.param.yaml @@ -0,0 +1,92 @@ +/**: + ros__parameters: + point_filters: | + { + "ring_section_filter": [ + [1, 0, 360], + [2, 0, 360], + [4, 0, 360], + [5, 0, 360], + [7, 0, 360], + [8, 0, 360], + [10, 0, 360], + [11, 0, 360], + [13, 0, 360], + [14, 0, 360], + [16, 0, 360], + [17, 0, 360], + [19, 0, 360], + [20, 0, 360], + [22, 0, 360], + [23, 0, 360], + [25, 0, 360], + [26, 0, 360], + [28, 0, 360], + [29, 0, 360], + [31, 0, 360], + [32, 0, 360], + [34, 0, 360], + [35, 0, 360], + [37, 0, 360], + [38, 0, 360], + [40, 0, 360], + [41, 0, 360], + [43, 0, 360], + [44, 0, 360], + [46, 0, 360], + [47, 0, 360], + [49, 0, 360], + [50, 0, 360], + [52, 0, 360], + [53, 0, 360], + [55, 0, 360], + [56, 0, 360], + [58, 0, 360], + [59, 0, 360], + [61, 0, 360], + [62, 0, 360], + [64, 0, 360], + [65, 0, 360], + [67, 0, 360], + [68, 0, 360], + [70, 0, 360], + [71, 0, 360], + [73, 0, 360], + [74, 0, 360], + [76, 0, 360], + [77, 0, 360], + [79, 0, 360], + [80, 0, 360], + [82, 0, 360], + [83, 0, 360], + [85, 0, 360], + [86, 0, 360], + [88, 0, 360], + [89, 0, 360], + [91, 0, 360], + [92, 0, 360], + [94, 0, 360], + [95, 0, 360], + [97, 0, 360], + [98, 0, 360], + [100, 0, 360], + [101, 0, 360], + [103, 0, 360], + [104, 0, 360], + [106, 0, 360], + [107, 0, 360], + [109, 0, 360], + [110, 0, 360], + [112, 0, 360], + [113, 0, 360], + [115, 0, 360], + [116, 0, 360], + [118, 0, 360], + [119, 0, 360], + [121, 0, 360], + [122, 0, 360], + [124, 0, 360], + [125, 0, 360], + [127, 0, 360] + ] + } diff --git a/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_two_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_two_third.param.yaml new file mode 100644 index 00000000..45a57f55 --- /dev/null +++ b/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_two_third.param.yaml @@ -0,0 +1,50 @@ +/**: + ros__parameters: + point_filters: | + { + "ring_section_filter": [ + [0, 0, 360], + [3, 0, 360], + [6, 0, 360], + [9, 0, 360], + [12, 0, 360], + [15, 0, 360], + [18, 0, 360], + [21, 0, 360], + [24, 0, 360], + [27, 0, 360], + [30, 0, 360], + [33, 0, 360], + [36, 0, 360], + [39, 0, 360], + [42, 0, 360], + [45, 0, 360], + [48, 0, 360], + [51, 0, 360], + [54, 0, 360], + [57, 0, 360], + [60, 0, 360], + [63, 0, 360], + [66, 0, 360], + [69, 0, 360], + [72, 0, 360], + [75, 0, 360], + [78, 0, 360], + [81, 0, 360], + [84, 0, 360], + [87, 0, 360], + [90, 0, 360], + [93, 0, 360], + [96, 0, 360], + [99, 0, 360], + [102, 0, 360], + [105, 0, 360], + [108, 0, 360], + [111, 0, 360], + [114, 0, 360], + [117, 0, 360], + [120, 0, 360], + [123, 0, 360], + [126, 0, 360] + ] + } diff --git a/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_full.param.yaml b/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_full.param.yaml new file mode 100644 index 00000000..7ff58606 --- /dev/null +++ b/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_full.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + point_filters: | + { + } diff --git a/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_one_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_one_third.param.yaml new file mode 100644 index 00000000..075381cc --- /dev/null +++ b/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_one_third.param.yaml @@ -0,0 +1,92 @@ +/**: + ros__parameters: + point_filters: | + { + "ring_section_filter": [ + [1, 0, 360], + [2, 0, 360], + [4, 0, 360], + [5, 0, 360], + [7, 0, 360], + [8, 0, 360], + [10, 0, 360], + [11, 0, 360], + [13, 0, 360], + [14, 0, 360], + [16, 0, 360], + [17, 0, 360], + [19, 0, 360], + [20, 0, 360], + [22, 0, 360], + [23, 0, 360], + [25, 0, 360], + [26, 0, 360], + [28, 0, 360], + [29, 0, 360], + [31, 0, 360], + [32, 0, 360], + [34, 0, 360], + [35, 0, 360], + [37, 0, 360], + [38, 0, 360], + [40, 0, 360], + [41, 0, 360], + [43, 0, 360], + [44, 0, 360], + [46, 0, 360], + [47, 0, 360], + [49, 0, 360], + [50, 0, 360], + [52, 0, 360], + [53, 0, 360], + [55, 0, 360], + [56, 0, 360], + [58, 0, 360], + [59, 0, 360], + [61, 0, 360], + [62, 0, 360], + [64, 0, 360], + [65, 0, 360], + [67, 0, 360], + [68, 0, 360], + [70, 0, 360], + [71, 0, 360], + [73, 0, 360], + [74, 0, 360], + [76, 0, 360], + [77, 0, 360], + [79, 0, 360], + [80, 0, 360], + [82, 0, 360], + [83, 0, 360], + [85, 0, 360], + [86, 0, 360], + [88, 0, 360], + [89, 0, 360], + [91, 0, 360], + [92, 0, 360], + [94, 0, 360], + [95, 0, 360], + [97, 0, 360], + [98, 0, 360], + [100, 0, 360], + [101, 0, 360], + [103, 0, 360], + [104, 0, 360], + [106, 0, 360], + [107, 0, 360], + [109, 0, 360], + [110, 0, 360], + [112, 0, 360], + [113, 0, 360], + [115, 0, 360], + [116, 0, 360], + [118, 0, 360], + [119, 0, 360], + [121, 0, 360], + [122, 0, 360], + [124, 0, 360], + [125, 0, 360], + [127, 0, 360] + ] + } diff --git a/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_two_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_two_third.param.yaml new file mode 100644 index 00000000..45a57f55 --- /dev/null +++ b/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_two_third.param.yaml @@ -0,0 +1,50 @@ +/**: + ros__parameters: + point_filters: | + { + "ring_section_filter": [ + [0, 0, 360], + [3, 0, 360], + [6, 0, 360], + [9, 0, 360], + [12, 0, 360], + [15, 0, 360], + [18, 0, 360], + [21, 0, 360], + [24, 0, 360], + [27, 0, 360], + [30, 0, 360], + [33, 0, 360], + [36, 0, 360], + [39, 0, 360], + [42, 0, 360], + [45, 0, 360], + [48, 0, 360], + [51, 0, 360], + [54, 0, 360], + [57, 0, 360], + [60, 0, 360], + [63, 0, 360], + [66, 0, 360], + [69, 0, 360], + [72, 0, 360], + [75, 0, 360], + [78, 0, 360], + [81, 0, 360], + [84, 0, 360], + [87, 0, 360], + [90, 0, 360], + [93, 0, 360], + [96, 0, 360], + [99, 0, 360], + [102, 0, 360], + [105, 0, 360], + [108, 0, 360], + [111, 0, 360], + [114, 0, 360], + [117, 0, 360], + [120, 0, 360], + [123, 0, 360], + [126, 0, 360] + ] + } diff --git a/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_full.param.yaml b/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_full.param.yaml new file mode 100644 index 00000000..7ff58606 --- /dev/null +++ b/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_full.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + point_filters: | + { + } diff --git a/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_one_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_one_third.param.yaml new file mode 100644 index 00000000..075381cc --- /dev/null +++ b/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_one_third.param.yaml @@ -0,0 +1,92 @@ +/**: + ros__parameters: + point_filters: | + { + "ring_section_filter": [ + [1, 0, 360], + [2, 0, 360], + [4, 0, 360], + [5, 0, 360], + [7, 0, 360], + [8, 0, 360], + [10, 0, 360], + [11, 0, 360], + [13, 0, 360], + [14, 0, 360], + [16, 0, 360], + [17, 0, 360], + [19, 0, 360], + [20, 0, 360], + [22, 0, 360], + [23, 0, 360], + [25, 0, 360], + [26, 0, 360], + [28, 0, 360], + [29, 0, 360], + [31, 0, 360], + [32, 0, 360], + [34, 0, 360], + [35, 0, 360], + [37, 0, 360], + [38, 0, 360], + [40, 0, 360], + [41, 0, 360], + [43, 0, 360], + [44, 0, 360], + [46, 0, 360], + [47, 0, 360], + [49, 0, 360], + [50, 0, 360], + [52, 0, 360], + [53, 0, 360], + [55, 0, 360], + [56, 0, 360], + [58, 0, 360], + [59, 0, 360], + [61, 0, 360], + [62, 0, 360], + [64, 0, 360], + [65, 0, 360], + [67, 0, 360], + [68, 0, 360], + [70, 0, 360], + [71, 0, 360], + [73, 0, 360], + [74, 0, 360], + [76, 0, 360], + [77, 0, 360], + [79, 0, 360], + [80, 0, 360], + [82, 0, 360], + [83, 0, 360], + [85, 0, 360], + [86, 0, 360], + [88, 0, 360], + [89, 0, 360], + [91, 0, 360], + [92, 0, 360], + [94, 0, 360], + [95, 0, 360], + [97, 0, 360], + [98, 0, 360], + [100, 0, 360], + [101, 0, 360], + [103, 0, 360], + [104, 0, 360], + [106, 0, 360], + [107, 0, 360], + [109, 0, 360], + [110, 0, 360], + [112, 0, 360], + [113, 0, 360], + [115, 0, 360], + [116, 0, 360], + [118, 0, 360], + [119, 0, 360], + [121, 0, 360], + [122, 0, 360], + [124, 0, 360], + [125, 0, 360], + [127, 0, 360] + ] + } diff --git a/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_two_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_two_third.param.yaml new file mode 100644 index 00000000..45a57f55 --- /dev/null +++ b/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_two_third.param.yaml @@ -0,0 +1,50 @@ +/**: + ros__parameters: + point_filters: | + { + "ring_section_filter": [ + [0, 0, 360], + [3, 0, 360], + [6, 0, 360], + [9, 0, 360], + [12, 0, 360], + [15, 0, 360], + [18, 0, 360], + [21, 0, 360], + [24, 0, 360], + [27, 0, 360], + [30, 0, 360], + [33, 0, 360], + [36, 0, 360], + [39, 0, 360], + [42, 0, 360], + [45, 0, 360], + [48, 0, 360], + [51, 0, 360], + [54, 0, 360], + [57, 0, 360], + [60, 0, 360], + [63, 0, 360], + [66, 0, 360], + [69, 0, 360], + [72, 0, 360], + [75, 0, 360], + [78, 0, 360], + [81, 0, 360], + [84, 0, 360], + [87, 0, 360], + [90, 0, 360], + [93, 0, 360], + [96, 0, 360], + [99, 0, 360], + [102, 0, 360], + [105, 0, 360], + [108, 0, 360], + [111, 0, 360], + [114, 0, 360], + [117, 0, 360], + [120, 0, 360], + [123, 0, 360], + [126, 0, 360] + ] + } diff --git a/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_full.param.yaml b/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_full.param.yaml new file mode 100644 index 00000000..7ff58606 --- /dev/null +++ b/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_full.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + point_filters: | + { + } diff --git a/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_one_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_one_third.param.yaml new file mode 100644 index 00000000..075381cc --- /dev/null +++ b/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_one_third.param.yaml @@ -0,0 +1,92 @@ +/**: + ros__parameters: + point_filters: | + { + "ring_section_filter": [ + [1, 0, 360], + [2, 0, 360], + [4, 0, 360], + [5, 0, 360], + [7, 0, 360], + [8, 0, 360], + [10, 0, 360], + [11, 0, 360], + [13, 0, 360], + [14, 0, 360], + [16, 0, 360], + [17, 0, 360], + [19, 0, 360], + [20, 0, 360], + [22, 0, 360], + [23, 0, 360], + [25, 0, 360], + [26, 0, 360], + [28, 0, 360], + [29, 0, 360], + [31, 0, 360], + [32, 0, 360], + [34, 0, 360], + [35, 0, 360], + [37, 0, 360], + [38, 0, 360], + [40, 0, 360], + [41, 0, 360], + [43, 0, 360], + [44, 0, 360], + [46, 0, 360], + [47, 0, 360], + [49, 0, 360], + [50, 0, 360], + [52, 0, 360], + [53, 0, 360], + [55, 0, 360], + [56, 0, 360], + [58, 0, 360], + [59, 0, 360], + [61, 0, 360], + [62, 0, 360], + [64, 0, 360], + [65, 0, 360], + [67, 0, 360], + [68, 0, 360], + [70, 0, 360], + [71, 0, 360], + [73, 0, 360], + [74, 0, 360], + [76, 0, 360], + [77, 0, 360], + [79, 0, 360], + [80, 0, 360], + [82, 0, 360], + [83, 0, 360], + [85, 0, 360], + [86, 0, 360], + [88, 0, 360], + [89, 0, 360], + [91, 0, 360], + [92, 0, 360], + [94, 0, 360], + [95, 0, 360], + [97, 0, 360], + [98, 0, 360], + [100, 0, 360], + [101, 0, 360], + [103, 0, 360], + [104, 0, 360], + [106, 0, 360], + [107, 0, 360], + [109, 0, 360], + [110, 0, 360], + [112, 0, 360], + [113, 0, 360], + [115, 0, 360], + [116, 0, 360], + [118, 0, 360], + [119, 0, 360], + [121, 0, 360], + [122, 0, 360], + [124, 0, 360], + [125, 0, 360], + [127, 0, 360] + ] + } diff --git a/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_two_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_two_third.param.yaml new file mode 100644 index 00000000..45a57f55 --- /dev/null +++ b/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_two_third.param.yaml @@ -0,0 +1,50 @@ +/**: + ros__parameters: + point_filters: | + { + "ring_section_filter": [ + [0, 0, 360], + [3, 0, 360], + [6, 0, 360], + [9, 0, 360], + [12, 0, 360], + [15, 0, 360], + [18, 0, 360], + [21, 0, 360], + [24, 0, 360], + [27, 0, 360], + [30, 0, 360], + [33, 0, 360], + [36, 0, 360], + [39, 0, 360], + [42, 0, 360], + [45, 0, 360], + [48, 0, 360], + [51, 0, 360], + [54, 0, 360], + [57, 0, 360], + [60, 0, 360], + [63, 0, 360], + [66, 0, 360], + [69, 0, 360], + [72, 0, 360], + [75, 0, 360], + [78, 0, 360], + [81, 0, 360], + [84, 0, 360], + [87, 0, 360], + [90, 0, 360], + [93, 0, 360], + [96, 0, 360], + [99, 0, 360], + [102, 0, 360], + [105, 0, 360], + [108, 0, 360], + [111, 0, 360], + [114, 0, 360], + [117, 0, 360], + [120, 0, 360], + [123, 0, 360], + [126, 0, 360] + ] + } diff --git a/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_full.param.yaml b/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_full.param.yaml new file mode 100644 index 00000000..7ff58606 --- /dev/null +++ b/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_full.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + point_filters: | + { + } diff --git a/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_one_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_one_third.param.yaml new file mode 100644 index 00000000..075381cc --- /dev/null +++ b/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_one_third.param.yaml @@ -0,0 +1,92 @@ +/**: + ros__parameters: + point_filters: | + { + "ring_section_filter": [ + [1, 0, 360], + [2, 0, 360], + [4, 0, 360], + [5, 0, 360], + [7, 0, 360], + [8, 0, 360], + [10, 0, 360], + [11, 0, 360], + [13, 0, 360], + [14, 0, 360], + [16, 0, 360], + [17, 0, 360], + [19, 0, 360], + [20, 0, 360], + [22, 0, 360], + [23, 0, 360], + [25, 0, 360], + [26, 0, 360], + [28, 0, 360], + [29, 0, 360], + [31, 0, 360], + [32, 0, 360], + [34, 0, 360], + [35, 0, 360], + [37, 0, 360], + [38, 0, 360], + [40, 0, 360], + [41, 0, 360], + [43, 0, 360], + [44, 0, 360], + [46, 0, 360], + [47, 0, 360], + [49, 0, 360], + [50, 0, 360], + [52, 0, 360], + [53, 0, 360], + [55, 0, 360], + [56, 0, 360], + [58, 0, 360], + [59, 0, 360], + [61, 0, 360], + [62, 0, 360], + [64, 0, 360], + [65, 0, 360], + [67, 0, 360], + [68, 0, 360], + [70, 0, 360], + [71, 0, 360], + [73, 0, 360], + [74, 0, 360], + [76, 0, 360], + [77, 0, 360], + [79, 0, 360], + [80, 0, 360], + [82, 0, 360], + [83, 0, 360], + [85, 0, 360], + [86, 0, 360], + [88, 0, 360], + [89, 0, 360], + [91, 0, 360], + [92, 0, 360], + [94, 0, 360], + [95, 0, 360], + [97, 0, 360], + [98, 0, 360], + [100, 0, 360], + [101, 0, 360], + [103, 0, 360], + [104, 0, 360], + [106, 0, 360], + [107, 0, 360], + [109, 0, 360], + [110, 0, 360], + [112, 0, 360], + [113, 0, 360], + [115, 0, 360], + [116, 0, 360], + [118, 0, 360], + [119, 0, 360], + [121, 0, 360], + [122, 0, 360], + [124, 0, 360], + [125, 0, 360], + [127, 0, 360] + ] + } diff --git a/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_two_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_two_third.param.yaml new file mode 100644 index 00000000..45a57f55 --- /dev/null +++ b/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_two_third.param.yaml @@ -0,0 +1,50 @@ +/**: + ros__parameters: + point_filters: | + { + "ring_section_filter": [ + [0, 0, 360], + [3, 0, 360], + [6, 0, 360], + [9, 0, 360], + [12, 0, 360], + [15, 0, 360], + [18, 0, 360], + [21, 0, 360], + [24, 0, 360], + [27, 0, 360], + [30, 0, 360], + [33, 0, 360], + [36, 0, 360], + [39, 0, 360], + [42, 0, 360], + [45, 0, 360], + [48, 0, 360], + [51, 0, 360], + [54, 0, 360], + [57, 0, 360], + [60, 0, 360], + [63, 0, 360], + [66, 0, 360], + [69, 0, 360], + [72, 0, 360], + [75, 0, 360], + [78, 0, 360], + [81, 0, 360], + [84, 0, 360], + [87, 0, 360], + [90, 0, 360], + [93, 0, 360], + [96, 0, 360], + [99, 0, 360], + [102, 0, 360], + [105, 0, 360], + [108, 0, 360], + [111, 0, 360], + [114, 0, 360], + [117, 0, 360], + [120, 0, 360], + [123, 0, 360], + [126, 0, 360] + ] + } diff --git a/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_full.param.yaml b/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_full.param.yaml new file mode 100644 index 00000000..7ff58606 --- /dev/null +++ b/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_full.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + point_filters: | + { + } diff --git a/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_one_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_one_third.param.yaml new file mode 100644 index 00000000..075381cc --- /dev/null +++ b/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_one_third.param.yaml @@ -0,0 +1,92 @@ +/**: + ros__parameters: + point_filters: | + { + "ring_section_filter": [ + [1, 0, 360], + [2, 0, 360], + [4, 0, 360], + [5, 0, 360], + [7, 0, 360], + [8, 0, 360], + [10, 0, 360], + [11, 0, 360], + [13, 0, 360], + [14, 0, 360], + [16, 0, 360], + [17, 0, 360], + [19, 0, 360], + [20, 0, 360], + [22, 0, 360], + [23, 0, 360], + [25, 0, 360], + [26, 0, 360], + [28, 0, 360], + [29, 0, 360], + [31, 0, 360], + [32, 0, 360], + [34, 0, 360], + [35, 0, 360], + [37, 0, 360], + [38, 0, 360], + [40, 0, 360], + [41, 0, 360], + [43, 0, 360], + [44, 0, 360], + [46, 0, 360], + [47, 0, 360], + [49, 0, 360], + [50, 0, 360], + [52, 0, 360], + [53, 0, 360], + [55, 0, 360], + [56, 0, 360], + [58, 0, 360], + [59, 0, 360], + [61, 0, 360], + [62, 0, 360], + [64, 0, 360], + [65, 0, 360], + [67, 0, 360], + [68, 0, 360], + [70, 0, 360], + [71, 0, 360], + [73, 0, 360], + [74, 0, 360], + [76, 0, 360], + [77, 0, 360], + [79, 0, 360], + [80, 0, 360], + [82, 0, 360], + [83, 0, 360], + [85, 0, 360], + [86, 0, 360], + [88, 0, 360], + [89, 0, 360], + [91, 0, 360], + [92, 0, 360], + [94, 0, 360], + [95, 0, 360], + [97, 0, 360], + [98, 0, 360], + [100, 0, 360], + [101, 0, 360], + [103, 0, 360], + [104, 0, 360], + [106, 0, 360], + [107, 0, 360], + [109, 0, 360], + [110, 0, 360], + [112, 0, 360], + [113, 0, 360], + [115, 0, 360], + [116, 0, 360], + [118, 0, 360], + [119, 0, 360], + [121, 0, 360], + [122, 0, 360], + [124, 0, 360], + [125, 0, 360], + [127, 0, 360] + ] + } diff --git a/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_two_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_two_third.param.yaml new file mode 100644 index 00000000..45a57f55 --- /dev/null +++ b/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_two_third.param.yaml @@ -0,0 +1,50 @@ +/**: + ros__parameters: + point_filters: | + { + "ring_section_filter": [ + [0, 0, 360], + [3, 0, 360], + [6, 0, 360], + [9, 0, 360], + [12, 0, 360], + [15, 0, 360], + [18, 0, 360], + [21, 0, 360], + [24, 0, 360], + [27, 0, 360], + [30, 0, 360], + [33, 0, 360], + [36, 0, 360], + [39, 0, 360], + [42, 0, 360], + [45, 0, 360], + [48, 0, 360], + [51, 0, 360], + [54, 0, 360], + [57, 0, 360], + [60, 0, 360], + [63, 0, 360], + [66, 0, 360], + [69, 0, 360], + [72, 0, 360], + [75, 0, 360], + [78, 0, 360], + [81, 0, 360], + [84, 0, 360], + [87, 0, 360], + [90, 0, 360], + [93, 0, 360], + [96, 0, 360], + [99, 0, 360], + [102, 0, 360], + [105, 0, 360], + [108, 0, 360], + [111, 0, 360], + [114, 0, 360], + [117, 0, 360], + [120, 0, 360], + [123, 0, 360], + [126, 0, 360] + ] + } diff --git a/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_full.param.yaml b/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_full.param.yaml new file mode 100644 index 00000000..7ff58606 --- /dev/null +++ b/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_full.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + point_filters: | + { + } diff --git a/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_one_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_one_third.param.yaml new file mode 100644 index 00000000..075381cc --- /dev/null +++ b/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_one_third.param.yaml @@ -0,0 +1,92 @@ +/**: + ros__parameters: + point_filters: | + { + "ring_section_filter": [ + [1, 0, 360], + [2, 0, 360], + [4, 0, 360], + [5, 0, 360], + [7, 0, 360], + [8, 0, 360], + [10, 0, 360], + [11, 0, 360], + [13, 0, 360], + [14, 0, 360], + [16, 0, 360], + [17, 0, 360], + [19, 0, 360], + [20, 0, 360], + [22, 0, 360], + [23, 0, 360], + [25, 0, 360], + [26, 0, 360], + [28, 0, 360], + [29, 0, 360], + [31, 0, 360], + [32, 0, 360], + [34, 0, 360], + [35, 0, 360], + [37, 0, 360], + [38, 0, 360], + [40, 0, 360], + [41, 0, 360], + [43, 0, 360], + [44, 0, 360], + [46, 0, 360], + [47, 0, 360], + [49, 0, 360], + [50, 0, 360], + [52, 0, 360], + [53, 0, 360], + [55, 0, 360], + [56, 0, 360], + [58, 0, 360], + [59, 0, 360], + [61, 0, 360], + [62, 0, 360], + [64, 0, 360], + [65, 0, 360], + [67, 0, 360], + [68, 0, 360], + [70, 0, 360], + [71, 0, 360], + [73, 0, 360], + [74, 0, 360], + [76, 0, 360], + [77, 0, 360], + [79, 0, 360], + [80, 0, 360], + [82, 0, 360], + [83, 0, 360], + [85, 0, 360], + [86, 0, 360], + [88, 0, 360], + [89, 0, 360], + [91, 0, 360], + [92, 0, 360], + [94, 0, 360], + [95, 0, 360], + [97, 0, 360], + [98, 0, 360], + [100, 0, 360], + [101, 0, 360], + [103, 0, 360], + [104, 0, 360], + [106, 0, 360], + [107, 0, 360], + [109, 0, 360], + [110, 0, 360], + [112, 0, 360], + [113, 0, 360], + [115, 0, 360], + [116, 0, 360], + [118, 0, 360], + [119, 0, 360], + [121, 0, 360], + [122, 0, 360], + [124, 0, 360], + [125, 0, 360], + [127, 0, 360] + ] + } diff --git a/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_two_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_two_third.param.yaml new file mode 100644 index 00000000..45a57f55 --- /dev/null +++ b/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_two_third.param.yaml @@ -0,0 +1,50 @@ +/**: + ros__parameters: + point_filters: | + { + "ring_section_filter": [ + [0, 0, 360], + [3, 0, 360], + [6, 0, 360], + [9, 0, 360], + [12, 0, 360], + [15, 0, 360], + [18, 0, 360], + [21, 0, 360], + [24, 0, 360], + [27, 0, 360], + [30, 0, 360], + [33, 0, 360], + [36, 0, 360], + [39, 0, 360], + [42, 0, 360], + [45, 0, 360], + [48, 0, 360], + [51, 0, 360], + [54, 0, 360], + [57, 0, 360], + [60, 0, 360], + [63, 0, 360], + [66, 0, 360], + [69, 0, 360], + [72, 0, 360], + [75, 0, 360], + [78, 0, 360], + [81, 0, 360], + [84, 0, 360], + [87, 0, 360], + [90, 0, 360], + [93, 0, 360], + [96, 0, 360], + [99, 0, 360], + [102, 0, 360], + [105, 0, 360], + [108, 0, 360], + [111, 0, 360], + [114, 0, 360], + [117, 0, 360], + [120, 0, 360], + [123, 0, 360], + [126, 0, 360] + ] + } From d96d1ae78560449896ac59b1a556b14f68003e25 Mon Sep 17 00:00:00 2001 From: kotaro-hihara Date: Thu, 10 Oct 2024 18:51:50 +0900 Subject: [PATCH 02/20] set front_lower multiFOV --- .../front_lower/point_filters_full.param.yaml | 36 +++++++++++++++++++ .../point_filters_one_third.param.yaml | 34 ++++++++++++++++++ .../point_filters_two_third.param.yaml | 34 ++++++++++++++++++ aip_x2_gen2_launch/launch/lidar.launch.xml | 1 + 4 files changed, 105 insertions(+) diff --git a/aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_full.param.yaml b/aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_full.param.yaml index 7ff58606..33d53465 100644 --- a/aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_full.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_full.param.yaml @@ -2,4 +2,40 @@ ros__parameters: point_filters: | { + "ring_section_filter": [ + [0, 60,128], [0, 232,300], + [1, 60,124], [1, 236,300], + [2, 60,122], [2, 238,300], + [3, 60,120], [3, 240,300], + [4, 60,118], [4, 242,300], + [5, 60,118], [5, 242,300], + [6, 60,114], [6, 246,300], + [7, 60,114], [7, 246,300], + [8, 60,112], [8, 248,300], + [9, 60,112], [9, 248,300], + [10, 60,110], [10, 250,300], + [11, 60,110], [11, 250,300], + [12, 60,108], [12, 252,300], + [13, 60,108], [13, 252,300], + [14, 60,108], [14, 252,300], + [15, 60,108], [15, 252,300], + [16, 60,108], [16, 252,300], + [17, 60,108], [17, 252,300], + [18, 60,106], [18, 254,300], + [19, 60,106], [19, 254,300], + [20, 60,102], [20, 258,300], + [21, 60,102], [21, 258,300], + [22, 60,100], [22, 260,300], + [23, 60,100], [23, 260,300], + [24, 60,100], [24, 260,300], + [25, 60,100], [25, 260,300], + [26, 60,100], [26, 260,300], + [27, 60,100], [27, 260,300], + [28, 60,100], [28, 260,300], + [29, 60,100], [29, 260,300], + [30, 60,94], [30, 266,300], + [31, 60,94], [31, 266,300], + [32, 60,94], [32, 266,300], + [33, 60,94], [33, 266,300] + ] } diff --git a/aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_one_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_one_third.param.yaml index 075381cc..71ba0993 100644 --- a/aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_one_third.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_one_third.param.yaml @@ -3,6 +3,40 @@ point_filters: | { "ring_section_filter": [ + [0, 60,128], [0, 232,300], + [1, 60,124], [1, 236,300], + [2, 60,122], [2, 238,300], + [3, 60,120], [3, 240,300], + [4, 60,118], [4, 242,300], + [5, 60,118], [5, 242,300], + [6, 60,114], [6, 246,300], + [7, 60,114], [7, 246,300], + [8, 60,112], [8, 248,300], + [9, 60,112], [9, 248,300], + [10, 60,110], [10, 250,300], + [11, 60,110], [11, 250,300], + [12, 60,108], [12, 252,300], + [13, 60,108], [13, 252,300], + [14, 60,108], [14, 252,300], + [15, 60,108], [15, 252,300], + [16, 60,108], [16, 252,300], + [17, 60,108], [17, 252,300], + [18, 60,106], [18, 254,300], + [19, 60,106], [19, 254,300], + [20, 60,102], [20, 258,300], + [21, 60,102], [21, 258,300], + [22, 60,100], [22, 260,300], + [23, 60,100], [23, 260,300], + [24, 60,100], [24, 260,300], + [25, 60,100], [25, 260,300], + [26, 60,100], [26, 260,300], + [27, 60,100], [27, 260,300], + [28, 60,100], [28, 260,300], + [29, 60,100], [29, 260,300], + [30, 60,94], [30, 266,300], + [31, 60,94], [31, 266,300], + [32, 60,94], [32, 266,300], + [33, 60,94], [33, 266,300], [1, 0, 360], [2, 0, 360], [4, 0, 360], diff --git a/aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_two_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_two_third.param.yaml index 45a57f55..0ccc1830 100644 --- a/aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_two_third.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_two_third.param.yaml @@ -3,6 +3,40 @@ point_filters: | { "ring_section_filter": [ + [0, 60,128], [0, 232,300], + [1, 60,124], [1, 236,300], + [2, 60,122], [2, 238,300], + [3, 60,120], [3, 240,300], + [4, 60,118], [4, 242,300], + [5, 60,118], [5, 242,300], + [6, 60,114], [6, 246,300], + [7, 60,114], [7, 246,300], + [8, 60,112], [8, 248,300], + [9, 60,112], [9, 248,300], + [10, 60,110], [10, 250,300], + [11, 60,110], [11, 250,300], + [12, 60,108], [12, 252,300], + [13, 60,108], [13, 252,300], + [14, 60,108], [14, 252,300], + [15, 60,108], [15, 252,300], + [16, 60,108], [16, 252,300], + [17, 60,108], [17, 252,300], + [18, 60,106], [18, 254,300], + [19, 60,106], [19, 254,300], + [20, 60,102], [20, 258,300], + [21, 60,102], [21, 258,300], + [22, 60,100], [22, 260,300], + [23, 60,100], [23, 260,300], + [24, 60,100], [24, 260,300], + [25, 60,100], [25, 260,300], + [26, 60,100], [26, 260,300], + [27, 60,100], [27, 260,300], + [28, 60,100], [28, 260,300], + [29, 60,100], [29, 260,300], + [30, 60,94], [30, 266,300], + [31, 60,94], [31, 266,300], + [32, 60,94], [32, 266,300], + [33, 60,94], [33, 266,300], [0, 0, 360], [3, 0, 360], [6, 0, 360], diff --git a/aip_x2_gen2_launch/launch/lidar.launch.xml b/aip_x2_gen2_launch/launch/lidar.launch.xml index 5224e317..c4ced2fc 100644 --- a/aip_x2_gen2_launch/launch/lidar.launch.xml +++ b/aip_x2_gen2_launch/launch/lidar.launch.xml @@ -258,6 +258,7 @@ + From d6161610ce7581e36b9f49c95878acfa8d66293c Mon Sep 17 00:00:00 2001 From: kotaro-hihara Date: Thu, 10 Oct 2024 19:40:40 +0900 Subject: [PATCH 03/20] set rear_lower multiFOV --- .../rear_lower/point_filters_full.param.yaml | 50 +++++++++++++++++++ .../point_filters_one_third.param.yaml | 48 ++++++++++++++++++ .../point_filters_two_third.param.yaml | 48 ++++++++++++++++++ aip_x2_gen2_launch/launch/lidar.launch.xml | 1 + 4 files changed, 147 insertions(+) diff --git a/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_full.param.yaml b/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_full.param.yaml index 7ff58606..770a6c07 100644 --- a/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_full.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_full.param.yaml @@ -2,4 +2,54 @@ ros__parameters: point_filters: | { + "ring_section_filter": [ + [0, 60,148], [0, 212,300], + [1, 60,144], [1, 216,300], + [2, 60,142], [2, 218,300], + [3, 60,140], [3, 220,300], + [4, 60,138], [4, 222,300], + [5, 60,138], [5, 222,300], + [6, 60,134], [6, 226,300], + [7, 60,134], [7, 226,300], + [8, 60,132], [8, 228,300], + [9, 60,132], [9, 228,300], + [10, 60,130], [10, 230,300], + [11, 60,120], [11, 240,300], + [12, 60,118], [12, 242,300], + [13, 60,118], [13, 242,300], + [14, 60,118], [14, 242,300], + [15, 60,118], [15, 242,300], + [16, 60,118], [16, 242,300], + [17, 60,118], [17, 242,300], + [18, 60,116], [18, 244,300], + [19, 60,116], [19, 244,300], + [20, 60,112], [20, 248,300], + [21, 60,112], [21, 248,300], + [22, 60,110], [22, 250,300], + [23, 60,110], [23, 250,300], + [24, 60,110], [24, 250,300], + [25, 60,110], [25, 250,300], + [26, 60,110], [26, 250,300], + [27, 60,106], [27, 254,300], + [28, 60,106], [28, 254,300], + [29, 60,106], [29, 254,300], + [30, 60,104], [30, 256,300], + [31, 60,104], [31, 256,300], + [32, 60,104], [32, 256,300], + [33, 60,104], [33, 256,300], + [34, 60,104], [34, 256,300], + [35, 60,100], [35, 260,300], + [36, 60,100], [36, 260,300], + [37, 60,100], [37, 260,300], + [38, 60,100], [38, 260,300], + [39, 60,96], [39, 264,300], + [40, 60,96], [40, 264,300], + [41, 60,96], [41, 264,300], + [42, 60,96], [42, 264,300], + [43, 60,96], [43, 264,300], + [44, 60,94], [44, 266,300], + [45, 60,94], [45, 266,300], + [46, 60,94], [46, 266,300], + [47, 60,94], [47, 266,300] + ] } diff --git a/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_one_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_one_third.param.yaml index 075381cc..cc034395 100644 --- a/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_one_third.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_one_third.param.yaml @@ -3,6 +3,54 @@ point_filters: | { "ring_section_filter": [ + [0, 60,148], [0, 212,300], + [1, 60,144], [1, 216,300], + [2, 60,142], [2, 218,300], + [3, 60,140], [3, 220,300], + [4, 60,138], [4, 222,300], + [5, 60,138], [5, 222,300], + [6, 60,134], [6, 226,300], + [7, 60,134], [7, 226,300], + [8, 60,132], [8, 228,300], + [9, 60,132], [9, 228,300], + [10, 60,130], [10, 230,300], + [11, 60,120], [11, 240,300], + [12, 60,118], [12, 242,300], + [13, 60,118], [13, 242,300], + [14, 60,118], [14, 242,300], + [15, 60,118], [15, 242,300], + [16, 60,118], [16, 242,300], + [17, 60,118], [17, 242,300], + [18, 60,116], [18, 244,300], + [19, 60,116], [19, 244,300], + [20, 60,112], [20, 248,300], + [21, 60,112], [21, 248,300], + [22, 60,110], [22, 250,300], + [23, 60,110], [23, 250,300], + [24, 60,110], [24, 250,300], + [25, 60,110], [25, 250,300], + [26, 60,110], [26, 250,300], + [27, 60,106], [27, 254,300], + [28, 60,106], [28, 254,300], + [29, 60,106], [29, 254,300], + [30, 60,104], [30, 256,300], + [31, 60,104], [31, 256,300], + [32, 60,104], [32, 256,300], + [33, 60,104], [33, 256,300], + [34, 60,104], [34, 256,300], + [35, 60,100], [35, 260,300], + [36, 60,100], [36, 260,300], + [37, 60,100], [37, 260,300], + [38, 60,100], [38, 260,300], + [39, 60,96], [39, 264,300], + [40, 60,96], [40, 264,300], + [41, 60,96], [41, 264,300], + [42, 60,96], [42, 264,300], + [43, 60,96], [43, 264,300], + [44, 60,94], [44, 266,300], + [45, 60,94], [45, 266,300], + [46, 60,94], [46, 266,300], + [47, 60,94], [47, 266,300], [1, 0, 360], [2, 0, 360], [4, 0, 360], diff --git a/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_two_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_two_third.param.yaml index 45a57f55..267e2258 100644 --- a/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_two_third.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_two_third.param.yaml @@ -3,6 +3,54 @@ point_filters: | { "ring_section_filter": [ + [0, 60,148], [0, 212,300], + [1, 60,144], [1, 216,300], + [2, 60,142], [2, 218,300], + [3, 60,140], [3, 220,300], + [4, 60,138], [4, 222,300], + [5, 60,138], [5, 222,300], + [6, 60,134], [6, 226,300], + [7, 60,134], [7, 226,300], + [8, 60,132], [8, 228,300], + [9, 60,132], [9, 228,300], + [10, 60,130], [10, 230,300], + [11, 60,120], [11, 240,300], + [12, 60,118], [12, 242,300], + [13, 60,118], [13, 242,300], + [14, 60,118], [14, 242,300], + [15, 60,118], [15, 242,300], + [16, 60,118], [16, 242,300], + [17, 60,118], [17, 242,300], + [18, 60,116], [18, 244,300], + [19, 60,116], [19, 244,300], + [20, 60,112], [20, 248,300], + [21, 60,112], [21, 248,300], + [22, 60,110], [22, 250,300], + [23, 60,110], [23, 250,300], + [24, 60,110], [24, 250,300], + [25, 60,110], [25, 250,300], + [26, 60,110], [26, 250,300], + [27, 60,106], [27, 254,300], + [28, 60,106], [28, 254,300], + [29, 60,106], [29, 254,300], + [30, 60,104], [30, 256,300], + [31, 60,104], [31, 256,300], + [32, 60,104], [32, 256,300], + [33, 60,104], [33, 256,300], + [34, 60,104], [34, 256,300], + [35, 60,100], [35, 260,300], + [36, 60,100], [36, 260,300], + [37, 60,100], [37, 260,300], + [38, 60,100], [38, 260,300], + [39, 60,96], [39, 264,300], + [40, 60,96], [40, 264,300], + [41, 60,96], [41, 264,300], + [42, 60,96], [42, 264,300], + [43, 60,96], [43, 264,300], + [44, 60,94], [44, 266,300], + [45, 60,94], [45, 266,300], + [46, 60,94], [46, 266,300], + [47, 60,94], [47, 266,300], [0, 0, 360], [3, 0, 360], [6, 0, 360], diff --git a/aip_x2_gen2_launch/launch/lidar.launch.xml b/aip_x2_gen2_launch/launch/lidar.launch.xml index c4ced2fc..e868c56a 100644 --- a/aip_x2_gen2_launch/launch/lidar.launch.xml +++ b/aip_x2_gen2_launch/launch/lidar.launch.xml @@ -123,6 +123,7 @@ + From 6800702556273265ae98d52be06377a99ceb7d59 Mon Sep 17 00:00:00 2001 From: kotaro-hihara Date: Tue, 15 Oct 2024 15:49:44 +0900 Subject: [PATCH 04/20] set front_upper multiFOV --- .../front_upper/point_filters_full.param.yaml | 67 +++++++++++++++++++ aip_x2_gen2_launch/launch/lidar.launch.xml | 6 +- 2 files changed, 70 insertions(+), 3 deletions(-) diff --git a/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_full.param.yaml b/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_full.param.yaml index 7ff58606..beb6a8ef 100644 --- a/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_full.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_full.param.yaml @@ -2,4 +2,71 @@ ros__parameters: point_filters: | { + "ring_section_filter": [ + [0, 60, 93],[0, 266, 300], + [1, 60, 93],[1, 266, 300], + [2, 60, 93],[2, 266, 300], + [3, 60, 93],[3, 266, 300], + [4, 268, 300], + [5, 268, 300], + [6, 268, 300], + [7, 268, 300], + [8, 268, 300], + [10, 272, 300], + [11, 272, 300], + [12, 272, 300], + [13, 272, 300], + [14, 266, 300], + [15, 266, 300], + [16, 266, 300], + [18, 263, 300], + [19, 263, 300], + [20, 263, 300], + [22, 270, 300], + [23, 270, 300], + [24, 270, 300], + [30, 267, 300], + [31, 267, 300], + [32, 267, 300], + [38, 272, 300], + [45, 60, 93],[45, 267, 300], + [52, 195, 300], + [58, 261, 300], + [59, 261, 300], + [60, 261, 300], + [72, 269, 300], + [73, 269, 300], + [74, 269, 300], + [88, 273, 300], + [89, 273, 300], + [90, 273, 300], + [91, 60, 93],[91, 273, 300], + [92, 60, 93],[92, 268, 300], + [93, 60, 93],[93, 273, 300], + [94, 60, 93],[94, 273, 300], + [95, 60, 93],[95, 273, 300], + [96, 60, 93],[96, 273, 300], + [97, 60, 93],[97, 273, 300], + [98, 60, 93],[98, 273, 300], + [99, 60, 93],[99, 273, 300], + [100, 60, 93.5],[100, 273, 300], + [101, 273, 300], + [102, 273, 300], + [103, 274, 300], + [104, 274, 300], + [105, 275, 300], + [106, 275, 300], + [107, 275, 300], + [108, 275, 300], + [112, 60, 93], + [116, 60, 93], + [120, 60, 90],[120, 270, 300], + [121, 60, 90],[121, 270, 300], + [122, 60, 90],[122, 270, 300], + [123, 60, 90],[123, 270, 300], + [124, 60, 90],[124, 270, 300], + [125, 60, 90],[125, 270, 300], + [126, 60, 90],[126, 270, 300], + [127, 60, 90],[127, 270, 300] + ] } diff --git a/aip_x2_gen2_launch/launch/lidar.launch.xml b/aip_x2_gen2_launch/launch/lidar.launch.xml index e868c56a..aa57590d 100644 --- a/aip_x2_gen2_launch/launch/lidar.launch.xml +++ b/aip_x2_gen2_launch/launch/lidar.launch.xml @@ -171,8 +171,8 @@ - - + + @@ -191,7 +191,7 @@ - + From 33a79da28203964ca8a73c25f77a487a2c7b8872 Mon Sep 17 00:00:00 2001 From: kotaro-hihara Date: Tue, 15 Oct 2024 16:04:56 +0900 Subject: [PATCH 05/20] fix front_upper FOV --- .../front_upper/point_filters_full.param.yaml | 16 ++--- .../point_filters_one_third.param.yaml | 65 +++++++++++++++++++ .../point_filters_two_third.param.yaml | 65 +++++++++++++++++++ 3 files changed, 138 insertions(+), 8 deletions(-) diff --git a/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_full.param.yaml b/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_full.param.yaml index beb6a8ef..86c11c7f 100644 --- a/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_full.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_full.param.yaml @@ -60,13 +60,13 @@ [108, 275, 300], [112, 60, 93], [116, 60, 93], - [120, 60, 90],[120, 270, 300], - [121, 60, 90],[121, 270, 300], - [122, 60, 90],[122, 270, 300], - [123, 60, 90],[123, 270, 300], - [124, 60, 90],[124, 270, 300], - [125, 60, 90],[125, 270, 300], - [126, 60, 90],[126, 270, 300], - [127, 60, 90],[127, 270, 300] + [120, 60, 93],[120, 265, 300], + [121, 60, 93],[121, 265, 300], + [122, 60, 93],[122, 265, 300], + [123, 60, 94],[123, 265, 300], + [124, 60, 94],[124, 265, 300], + [125, 60, 97],[125, 256, 300], + [126, 60, 97],[126, 256, 300], + [127, 60, 97],[127, 256, 300] ] } diff --git a/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_one_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_one_third.param.yaml index 075381cc..a61e40e8 100644 --- a/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_one_third.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_one_third.param.yaml @@ -3,6 +3,71 @@ point_filters: | { "ring_section_filter": [ + [0, 60, 93],[0, 266, 300], + [1, 60, 93],[1, 266, 300], + [2, 60, 93],[2, 266, 300], + [3, 60, 93],[3, 266, 300], + [4, 268, 300], + [5, 268, 300], + [6, 268, 300], + [7, 268, 300], + [8, 268, 300], + [10, 272, 300], + [11, 272, 300], + [12, 272, 300], + [13, 272, 300], + [14, 266, 300], + [15, 266, 300], + [16, 266, 300], + [18, 263, 300], + [19, 263, 300], + [20, 263, 300], + [22, 270, 300], + [23, 270, 300], + [24, 270, 300], + [30, 267, 300], + [31, 267, 300], + [32, 267, 300], + [38, 272, 300], + [45, 60, 93],[45, 267, 300], + [52, 195, 300], + [58, 261, 300], + [59, 261, 300], + [60, 261, 300], + [72, 269, 300], + [73, 269, 300], + [74, 269, 300], + [88, 273, 300], + [89, 273, 300], + [90, 273, 300], + [91, 60, 93],[91, 273, 300], + [92, 60, 93],[92, 268, 300], + [93, 60, 93],[93, 273, 300], + [94, 60, 93],[94, 273, 300], + [95, 60, 93],[95, 273, 300], + [96, 60, 93],[96, 273, 300], + [97, 60, 93],[97, 273, 300], + [98, 60, 93],[98, 273, 300], + [99, 60, 93],[99, 273, 300], + [100, 60, 93.5],[100, 273, 300], + [101, 273, 300], + [102, 273, 300], + [103, 274, 300], + [104, 274, 300], + [105, 275, 300], + [106, 275, 300], + [107, 275, 300], + [108, 275, 300], + [112, 60, 93], + [116, 60, 93], + [120, 60, 93],[120, 265, 300], + [121, 60, 93],[121, 265, 300], + [122, 60, 93],[122, 265, 300], + [123, 60, 94],[123, 265, 300], + [124, 60, 94],[124, 265, 300], + [125, 60, 97],[125, 256, 300], + [126, 60, 97],[126, 256, 300], + [127, 60, 97],[127, 256, 300], [1, 0, 360], [2, 0, 360], [4, 0, 360], diff --git a/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_two_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_two_third.param.yaml index 45a57f55..ee82ff19 100644 --- a/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_two_third.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_two_third.param.yaml @@ -3,6 +3,71 @@ point_filters: | { "ring_section_filter": [ + [0, 60, 93],[0, 266, 300], + [1, 60, 93],[1, 266, 300], + [2, 60, 93],[2, 266, 300], + [3, 60, 93],[3, 266, 300], + [4, 268, 300], + [5, 268, 300], + [6, 268, 300], + [7, 268, 300], + [8, 268, 300], + [10, 272, 300], + [11, 272, 300], + [12, 272, 300], + [13, 272, 300], + [14, 266, 300], + [15, 266, 300], + [16, 266, 300], + [18, 263, 300], + [19, 263, 300], + [20, 263, 300], + [22, 270, 300], + [23, 270, 300], + [24, 270, 300], + [30, 267, 300], + [31, 267, 300], + [32, 267, 300], + [38, 272, 300], + [45, 60, 93],[45, 267, 300], + [52, 195, 300], + [58, 261, 300], + [59, 261, 300], + [60, 261, 300], + [72, 269, 300], + [73, 269, 300], + [74, 269, 300], + [88, 273, 300], + [89, 273, 300], + [90, 273, 300], + [91, 60, 93],[91, 273, 300], + [92, 60, 93],[92, 268, 300], + [93, 60, 93],[93, 273, 300], + [94, 60, 93],[94, 273, 300], + [95, 60, 93],[95, 273, 300], + [96, 60, 93],[96, 273, 300], + [97, 60, 93],[97, 273, 300], + [98, 60, 93],[98, 273, 300], + [99, 60, 93],[99, 273, 300], + [100, 60, 93.5],[100, 273, 300], + [101, 273, 300], + [102, 273, 300], + [103, 274, 300], + [104, 274, 300], + [105, 275, 300], + [106, 275, 300], + [107, 275, 300], + [108, 275, 300], + [112, 60, 93], + [116, 60, 93], + [120, 60, 93],[120, 265, 300], + [121, 60, 93],[121, 265, 300], + [122, 60, 93],[122, 265, 300], + [123, 60, 94],[123, 265, 300], + [124, 60, 94],[124, 265, 300], + [125, 60, 97],[125, 256, 300], + [126, 60, 97],[126, 256, 300], + [127, 60, 97],[127, 256, 300], [0, 0, 360], [3, 0, 360], [6, 0, 360], From fb5a3d1abae71afd04adff677df99666007e1725 Mon Sep 17 00:00:00 2001 From: kotaro-hihara Date: Tue, 15 Oct 2024 18:33:39 +0900 Subject: [PATCH 06/20] fix rear_upper FOV --- .../rear_upper/point_filters_full.param.yaml | 108 ++++++++++++++++++ aip_x2_gen2_launch/launch/lidar.launch.xml | 6 +- 2 files changed, 111 insertions(+), 3 deletions(-) diff --git a/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_full.param.yaml b/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_full.param.yaml index 7ff58606..f0613fe7 100644 --- a/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_full.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_full.param.yaml @@ -2,4 +2,112 @@ ros__parameters: point_filters: | { + "ring_section_filter": [ + [0, 60,95],[0, 270,300], + [1, 60,95],[1, 270,300], + [2, 60,95],[2, 270,300], + [3, 60,95],[3, 270,300], + [4, 60,98],[4, 270,300], + [5, 60,98],[5, 270,300], + [6, 60,98], + [7, 60,98], + [8, 60,92], + [9, 60,92], + [10, 270,300], + [11, 270,300], + [12, 270,300], + [14, 265,300], + [15, 265,300], + [16, 265,300], + [17, 263,300], + [18, 263,300], + [19, 263,300], + [20, 263,300], + [21, 263,300], + [22, 264,300], + [23, 264,300], + [24, 264,300], + [30, 60,99],[30,264,300], + [31, 60,99],[31,264,300], + [32, 60,99],[32,264,300], + [33, 60,90], + [34, 60,90], + [35, 60,90], + [36, 60,94], + [37, 60,94], + [38, 60,94], + [39, 60,94], + [40, 60,94], + [41, 60,90], + [42, 60,90], + [43, 60,90], + [44, 60,100],[44, 262,300], + [45, 60,100],[45, 262,300], + [46, 60,100],[46, 262,300], + [51, 60,100], + [52, 60,100], + [53, 60,100], + [58, 60,99],[58, 269,300], + [59, 60,99],[59, 269,300], + [60, 60,99],[60, 269,300], + [65, 259.5,300], + [66, 259.5,300], + [67, 259.5,300], + [72, 265,300], + [73, 265,300], + [74, 265,300], + [75, 265,300], + [76, 265,300], + [77, 265,300], + [78, 60,98],[78, 262,300], + [79, 60,98],[79, 262,300], + [80, 60,98],[80, 262,300], + [81, 60,98],[81, 262,300], + [82, 60,98],[82, 262,300], + [83, 60,98],[83, 262,300], + [84, 60,98],[84, 262,300], + [85, 60,98],[85, 262,300], + [86, 60,98],[86, 262,300], + [87, 60,100],[87, 262,300], + [88, 60,100],[88, 262,300], + [89, 60,100],[89, 262,300], + [90, 262,300], + [91, 60,101], [91, 270,300], + [92, 60,101], [92, 270,300], + [93, 60,101], [93, 270,300], + [94, 60,102], [94, 270,300], + [95, 60,102],[95, 267,300], + [96, 60,102],[96, 267,300], + [97, 60,102],[97, 267,300], + [98, 60,95], + [99, 60,95], + [100, 60,95], + [101, 60,95], + [102, 60,95], + [103, 60,99], + [104, 60,97], + [105, 60,97], + [106, 60,97], + [107, 60,98], + [108, 60,98], + [109, 60,98], + [110, 60,93], + [111, 60,93],[111, 270,300], + [112, 60,93],[112, 270,300], + [113, 60,93],[113, 270,300], + [114, 60,98], + [115, 60,98], + [116, 60,98], + [117, 60,98], + [118, 60,100], + [119, 60,101],[119, 269,300], + [120, 60,101],[120, 269,300], + [121, 60,101],[121, 264,300], + [122, 60,101],[122, 264,300], + [123, 60,103], [123, 264,300], + [124, 60,103], [124, 258,300], + [125, 60,103], [125, 258,300], + [126, 60,103], [126, 258,300], + [127, 60,103], [127, 258,300] + ] } diff --git a/aip_x2_gen2_launch/launch/lidar.launch.xml b/aip_x2_gen2_launch/launch/lidar.launch.xml index aa57590d..baa81409 100644 --- a/aip_x2_gen2_launch/launch/lidar.launch.xml +++ b/aip_x2_gen2_launch/launch/lidar.launch.xml @@ -35,8 +35,8 @@ - - + + @@ -55,7 +55,7 @@ - + From 658a8efd1fb8d82865be6d3acb6bdaaad847429e Mon Sep 17 00:00:00 2001 From: kotaro-hihara Date: Wed, 16 Oct 2024 10:29:47 +0900 Subject: [PATCH 07/20] fix left_lower FOV --- .../left_lower/point_filters_full.param.yaml | 27 +++++++++++++++++++ .../point_filters_one_third.param.yaml | 25 +++++++++++++++++ .../point_filters_two_third.param.yaml | 25 +++++++++++++++++ aip_x2_gen2_launch/launch/lidar.launch.xml | 1 + 4 files changed, 78 insertions(+) diff --git a/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_full.param.yaml b/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_full.param.yaml index 7ff58606..e76f0f03 100644 --- a/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_full.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_full.param.yaml @@ -2,4 +2,31 @@ ros__parameters: point_filters: | { + "ring_section_filter": [ + [19, 235, 265], + [20, 235, 265], + [21, 235, 265], + [22, 235, 265], + [23, 235, 269], + [24, 235, 269], + [25, 235, 269], + [26, 235, 269], + [27, 235, 269], + [28, 235, 269], + [29, 235, 269], + [30, 235, 265], + [31, 235, 265], + [32, 235, 265], + [33, 235, 265], + [34, 235, 265], + [35, 235, 265], + [36, 235, 265], + [37, 235, 265], + [38, 235, 265], + [39, 235, 265], + [40, 235, 265], + [41, 235, 265], + [42, 235, 265], + [43, 235, 265] + ] } diff --git a/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_one_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_one_third.param.yaml index 075381cc..07663892 100644 --- a/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_one_third.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_one_third.param.yaml @@ -3,6 +3,31 @@ point_filters: | { "ring_section_filter": [ + [19, 235, 265], + [20, 235, 265], + [21, 235, 265], + [22, 235, 265], + [23, 235, 269], + [24, 235, 269], + [25, 235, 269], + [26, 235, 269], + [27, 235, 269], + [28, 235, 269], + [29, 235, 269], + [30, 235, 265], + [31, 235, 265], + [32, 235, 265], + [33, 235, 265], + [34, 235, 265], + [35, 235, 265], + [36, 235, 265], + [37, 235, 265], + [38, 235, 265], + [39, 235, 265], + [40, 235, 265], + [41, 235, 265], + [42, 235, 265], + [43, 235, 265], [1, 0, 360], [2, 0, 360], [4, 0, 360], diff --git a/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_two_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_two_third.param.yaml index 45a57f55..2a074665 100644 --- a/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_two_third.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_two_third.param.yaml @@ -3,6 +3,31 @@ point_filters: | { "ring_section_filter": [ + [19, 235, 265], + [20, 235, 265], + [21, 235, 265], + [22, 235, 265], + [23, 235, 269], + [24, 235, 269], + [25, 235, 269], + [26, 235, 269], + [27, 235, 269], + [28, 235, 269], + [29, 235, 269], + [30, 235, 265], + [31, 235, 265], + [32, 235, 265], + [33, 235, 265], + [34, 235, 265], + [35, 235, 265], + [36, 235, 265], + [37, 235, 265], + [38, 235, 265], + [39, 235, 265], + [40, 235, 265], + [41, 235, 265], + [42, 235, 265], + [43, 235, 265], [0, 0, 360], [3, 0, 360], [6, 0, 360], diff --git a/aip_x2_gen2_launch/launch/lidar.launch.xml b/aip_x2_gen2_launch/launch/lidar.launch.xml index baa81409..e405300d 100644 --- a/aip_x2_gen2_launch/launch/lidar.launch.xml +++ b/aip_x2_gen2_launch/launch/lidar.launch.xml @@ -157,6 +157,7 @@ + From eaaa676844afa290f44bbab1a82723ed4bd8e0f7 Mon Sep 17 00:00:00 2001 From: kotaro-hihara Date: Wed, 16 Oct 2024 14:44:14 +0900 Subject: [PATCH 08/20] edit left_lower FOV --- .../left_lower/point_filters_full.param.yaml | 77 +++++++++++++------ .../point_filters_one_third.param.yaml | 77 +++++++++++++------ .../point_filters_two_third.param.yaml | 77 +++++++++++++------ 3 files changed, 156 insertions(+), 75 deletions(-) diff --git a/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_full.param.yaml b/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_full.param.yaml index e76f0f03..2a2b0a5b 100644 --- a/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_full.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_full.param.yaml @@ -3,30 +3,57 @@ point_filters: | { "ring_section_filter": [ - [19, 235, 265], - [20, 235, 265], - [21, 235, 265], - [22, 235, 265], - [23, 235, 269], - [24, 235, 269], - [25, 235, 269], - [26, 235, 269], - [27, 235, 269], - [28, 235, 269], - [29, 235, 269], - [30, 235, 265], - [31, 235, 265], - [32, 235, 265], - [33, 235, 265], - [34, 235, 265], - [35, 235, 265], - [36, 235, 265], - [37, 235, 265], - [38, 235, 265], - [39, 235, 265], - [40, 235, 265], - [41, 235, 265], - [42, 235, 265], - [43, 235, 265] + [0, 0, 360], + [1, 0, 360], + [2, 0, 360], + [3, 0, 170],[3, 199.5, 300], + [4, 0, 155],[4, 203, 300], + [5, 0, 152],[5, 206, 217],[5, 220, 300], + [6, 0, 146],[6, 217, 300], + [7, 0, 143],[7, 235, 300], + [8, 0, 143],[8, 228.5, 300], + [9, 0, 142],[9, 228.5, 300], + [10, 0, 141],[10, 235, 300], + [11, 0, 140],[11, 235, 300], + [12, 0, 140],[12, 235, 300], + [13, 0, 135],[13, 235, 300], + [14, 0, 133],[14, 235, 300], + [15, 0, 131],[15, 235, 300], + [16, 0, 129],[16, 235, 300], + [17, 0, 127],[17, 235, 300], + [18, 0, 127],[18, 235, 300], + [19, 0, 126],[19, 235, 300], + [20, 0, 125],[20, 235, 300], + [21, 0, 125],[21, 235, 300], + [22, 0, 124],[22, 235, 300], + [23, 0, 124],[23, 235, 300], + [24, 0, 122],[24, 235, 300], + [25, 0, 122],[25, 235, 300], + [26, 0, 121],[26, 235, 300], + [27, 0, 120],[27, 235, 300], + [28, 0, 119],[28, 242, 300], + [29, 0, 118],[29, 242, 300], + [30, 0, 110],[30, 242, 300], + [31, 0, 109],[31, 244, 265], + [32, 0, 109],[32, 244, 265], + [33, 0, 108],[33, 244, 265], + [34, 0, 108],[34, 244, 265], + [35, 0, 107],[35, 244, 265], + [36, 0, 107],[36, 244, 265], + [37, 0, 106],[37, 244, 265], + [38, 0, 106],[38, 244, 265], + [39, 0, 105],[39, 244, 265], + [40, 0, 105],[40, 244, 265], + [41, 0, 104],[41, 244, 265], + [42, 0, 104],[42, 244, 265], + [43, 0, 103],[43, 244, 265], + [44, 0, 102], + [45, 0, 101], + [46, 0, 96], + [47, 0, 95], + [48, 0, 95], + [49, 0, 94], + [50, 0, 93], + [51, 0, 93] ] } diff --git a/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_one_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_one_third.param.yaml index 07663892..d05dd26f 100644 --- a/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_one_third.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_one_third.param.yaml @@ -3,31 +3,58 @@ point_filters: | { "ring_section_filter": [ - [19, 235, 265], - [20, 235, 265], - [21, 235, 265], - [22, 235, 265], - [23, 235, 269], - [24, 235, 269], - [25, 235, 269], - [26, 235, 269], - [27, 235, 269], - [28, 235, 269], - [29, 235, 269], - [30, 235, 265], - [31, 235, 265], - [32, 235, 265], - [33, 235, 265], - [34, 235, 265], - [35, 235, 265], - [36, 235, 265], - [37, 235, 265], - [38, 235, 265], - [39, 235, 265], - [40, 235, 265], - [41, 235, 265], - [42, 235, 265], - [43, 235, 265], + [0, 0, 360], + [1, 0, 360], + [2, 0, 170],[2, 192, 300], + [3, 0, 160],[3, 199.5, 300], + [4, 0, 155],[4, 203, 300], + [5, 0, 152],[5, 206, 217],[5, 220, 300], + [6, 0, 146],[6, 217, 300], + [7, 0, 143],[7, 235, 300], + [8, 0, 139],[8, 228.5, 300], + [9, 0, 135],[9, 228.5, 300], + [10, 0, 133],[10, 235, 300], + [11, 0, 132],[11, 235, 300], + [12, 0, 131],[12, 235, 300], + [13, 0, 129],[13, 235, 300], + [14, 0, 127],[14, 235, 300], + [15, 0, 126],[15, 235, 300], + [16, 0, 124],[16, 235, 300], + [17, 0, 122],[17, 235, 300], + [18, 0, 121],[18, 235, 300], + [19, 0, 120],[19, 235, 300], + [20, 0, 119],[20, 235, 300], + [21, 0, 118],[21, 235, 300], + [22, 0, 117],[22, 235, 300], + [23, 0, 116],[23, 235, 300], + [24, 0, 115],[24, 235, 300], + [25, 0, 114],[25, 235, 300], + [26, 0, 113],[26, 235, 300], + [27, 0, 112],[27, 235, 300], + [28, 0, 111],[28, 242, 300], + [29, 0, 110],[29, 242, 300], + [30, 0, 110],[30, 242, 300], + [31, 0, 109],[31, 244, 265], + [32, 0, 109],[32, 244, 265], + [33, 0, 108],[33, 244, 265], + [34, 0, 108],[34, 244, 265], + [35, 0, 107],[35, 244, 265], + [36, 0, 107],[36, 244, 265], + [37, 0, 106],[37, 244, 265], + [38, 0, 106],[38, 244, 265], + [39, 0, 105],[39, 244, 265], + [40, 0, 105],[40, 244, 265], + [41, 0, 104],[41, 244, 265], + [42, 0, 104],[42, 244, 265], + [43, 0, 103],[43, 244, 265], + [44, 0, 102], + [45, 0, 101], + [46, 0, 96], + [47, 0, 95], + [48, 0, 95], + [49, 0, 94], + [50, 0, 93], + [51, 0, 93], [1, 0, 360], [2, 0, 360], [4, 0, 360], diff --git a/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_two_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_two_third.param.yaml index 2a074665..f7445d31 100644 --- a/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_two_third.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_two_third.param.yaml @@ -3,31 +3,58 @@ point_filters: | { "ring_section_filter": [ - [19, 235, 265], - [20, 235, 265], - [21, 235, 265], - [22, 235, 265], - [23, 235, 269], - [24, 235, 269], - [25, 235, 269], - [26, 235, 269], - [27, 235, 269], - [28, 235, 269], - [29, 235, 269], - [30, 235, 265], - [31, 235, 265], - [32, 235, 265], - [33, 235, 265], - [34, 235, 265], - [35, 235, 265], - [36, 235, 265], - [37, 235, 265], - [38, 235, 265], - [39, 235, 265], - [40, 235, 265], - [41, 235, 265], - [42, 235, 265], - [43, 235, 265], + [0, 0, 360], + [1, 0, 360], + [2, 0, 170],[2, 192, 300], + [3, 0, 160],[3, 199.5, 300], + [4, 0, 155],[4, 203, 300], + [5, 0, 152],[5, 206, 217],[5, 220, 300], + [6, 0, 146],[6, 217, 300], + [7, 0, 143],[7, 235, 300], + [8, 0, 139],[8, 228.5, 300], + [9, 0, 135],[9, 228.5, 300], + [10, 0, 133],[10, 235, 300], + [11, 0, 132],[11, 235, 300], + [12, 0, 131],[12, 235, 300], + [13, 0, 129],[13, 235, 300], + [14, 0, 127],[14, 235, 300], + [15, 0, 126],[15, 235, 300], + [16, 0, 124],[16, 235, 300], + [17, 0, 122],[17, 235, 300], + [18, 0, 121],[18, 235, 300], + [19, 0, 120],[19, 235, 300], + [20, 0, 119],[20, 235, 300], + [21, 0, 118],[21, 235, 300], + [22, 0, 117],[22, 235, 300], + [23, 0, 116],[23, 235, 300], + [24, 0, 115],[24, 235, 300], + [25, 0, 114],[25, 235, 300], + [26, 0, 113],[26, 235, 300], + [27, 0, 112],[27, 235, 300], + [28, 0, 111],[28, 242, 300], + [29, 0, 110],[29, 242, 300], + [30, 0, 110],[30, 242, 300], + [31, 0, 109],[31, 244, 265], + [32, 0, 109],[32, 244, 265], + [33, 0, 108],[33, 244, 265], + [34, 0, 108],[34, 244, 265], + [35, 0, 107],[35, 244, 265], + [36, 0, 107],[36, 244, 265], + [37, 0, 106],[37, 244, 265], + [38, 0, 106],[38, 244, 265], + [39, 0, 105],[39, 244, 265], + [40, 0, 105],[40, 244, 265], + [41, 0, 104],[41, 244, 265], + [42, 0, 104],[42, 244, 265], + [43, 0, 103],[43, 244, 265], + [44, 0, 102], + [45, 0, 101], + [46, 0, 96], + [47, 0, 95], + [48, 0, 95], + [49, 0, 94], + [50, 0, 93], + [51, 0, 93], [0, 0, 360], [3, 0, 360], [6, 0, 360], From 8dfe16e178422dcc5862405dea04d969a858b018 Mon Sep 17 00:00:00 2001 From: kotaro-hihara Date: Wed, 16 Oct 2024 17:00:28 +0900 Subject: [PATCH 09/20] fix right_lower FOV --- .../right_lower/point_filters_full.param.yaml | 55 +++++++++++++++++++ .../point_filters_one_third.param.yaml | 52 ++++++++++++++++++ .../point_filters_two_third.param.yaml | 52 ++++++++++++++++++ aip_x2_gen2_launch/launch/lidar.launch.xml | 1 + 4 files changed, 160 insertions(+) diff --git a/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_full.param.yaml b/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_full.param.yaml index 7ff58606..d462c923 100644 --- a/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_full.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_full.param.yaml @@ -2,4 +2,59 @@ ros__parameters: point_filters: | { + "ring_section_filter": [ + [0, 0, 360], + [1, 0, 360], + [2, 0, 360], + [3, 60, 165],[3, 190, 300], + [4, 60, 158],[4, 203, 300], + [5, 60, 157],[5, 205, 300], + [6, 60, 156],[6, 211, 300], + [7, 60, 154],[7, 214, 300], + [8, 60, 152],[8, 217, 300], + [9, 60, 152],[9, 220, 300], + [10, 60, 151],[10, 221, 300], + [11, 60, 151],[11, 226, 300], + [12, 60, 151],[12, 229, 300], + [13, 60, 151],[13, 231, 300], + [14, 60, 150],[14, 232, 300], + [15, 60, 150],[15, 233, 300], + [16, 60, 150],[16, 234, 300], + [17, 60, 140],[17, 235, 300], + [18, 60, 135],[18, 235, 300], + [19, 60, 126],[19, 236, 300], + [20, 102, 126],[20, 240, 300], + [21, 102, 125],[21, 241, 300], + [22, 105, 125],[22, 241, 300], + [23, 105, 124],[23, 244, 300], + [24, 105, 123],[24, 245, 300], + [25, 106, 122],[25, 246, 300], + [26, 107, 121],[26, 247, 300], + [27, 108, 120],[27, 248, 300], + [28, 109, 119],[28, 248, 300], + [29, 110, 118],[29, 250, 300], + [30, 111, 117],[30, 250, 300], + [31, 112.5, 116],[31, 251, 300], + [32, 251, 300], + [33, 252, 300], + [34, 252, 300], + [35, 253, 300], + [36, 253, 300], + [37, 254, 300], + [38, 254, 300], + [39, 255, 300], + [40, 255, 300], + [41, 256, 300], + [42, 256, 300], + [43, 257, 300], + [44, 258, 300], + [45, 259, 300], + [46, 264, 300], + [47, 265, 300], + [48, 265, 300], + [49, 266, 300], + [50, 267, 300], + [51, 267, 270], + [52, 268, 300] + ] } diff --git a/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_one_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_one_third.param.yaml index 075381cc..64aca2e7 100644 --- a/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_one_third.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_one_third.param.yaml @@ -3,6 +3,58 @@ point_filters: | { "ring_section_filter": [ + [0, 0, 360], + [1, 0, 360], + [2, 0, 360], + [3, 60, 165],[3, 190, 300], + [4, 60, 158],[4, 203, 300], + [5, 60, 157],[5, 205, 300], + [6, 60, 156],[6, 211, 300], + [7, 60, 154],[7, 214, 300], + [8, 60, 152],[8, 217, 300], + [9, 60, 152],[9, 220, 300], + [10, 60, 151],[10, 221, 300], + [11, 60, 151],[11, 226, 300], + [12, 60, 151],[12, 229, 300], + [13, 60, 151],[13, 231, 300], + [14, 60, 150],[14, 232, 300], + [15, 60, 150],[15, 233, 300], + [16, 60, 150],[16, 234, 300], + [17, 60, 140],[17, 235, 300], + [18, 60, 135],[18, 235, 300], + [19, 60, 126],[19, 236, 300], + [20, 103, 126],[20, 240, 300], + [21, 105, 125],[21, 241, 300], + [22, 105, 125],[22, 241, 300], + [23, 105, 124],[23, 244, 300], + [24, 105, 123],[24, 245, 300], + [25, 106, 122],[25, 246, 300], + [26, 107, 121],[26, 247, 300], + [27, 108, 120],[27, 248, 300], + [28, 109, 119],[28, 248, 300], + [29, 110, 118],[29, 250, 300], + [30, 111, 117],[30, 250, 300], + [31, 112.5, 116],[31, 251, 300], + [32, 251, 300], + [33, 252, 300], + [34, 252, 300], + [35, 253, 300], + [36, 253, 300], + [37, 254, 300], + [38, 254, 300], + [39, 255, 300], + [40, 255, 300], + [41, 256, 300], + [42, 256, 300], + [43, 257, 300], + [44, 258, 300], + [45, 259, 300], + [46, 264, 300], + [47, 265, 300], + [48, 265, 300], + [49, 266, 300], + [50, 267, 300], + [52, 268, 300], [1, 0, 360], [2, 0, 360], [4, 0, 360], diff --git a/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_two_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_two_third.param.yaml index 45a57f55..a74e4172 100644 --- a/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_two_third.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_two_third.param.yaml @@ -4,6 +4,58 @@ { "ring_section_filter": [ [0, 0, 360], + [1, 0, 360], + [2, 0, 360], + [3, 60, 165],[3, 190, 300], + [4, 60, 158],[4, 203, 300], + [5, 60, 157],[5, 205, 300], + [6, 60, 156],[6, 211, 300], + [7, 60, 154],[7, 214, 300], + [8, 60, 152],[8, 217, 300], + [9, 60, 152],[9, 220, 300], + [10, 60, 151],[10, 221, 300], + [11, 60, 151],[11, 226, 300], + [12, 60, 151],[12, 229, 300], + [13, 60, 151],[13, 231, 300], + [14, 60, 150],[14, 232, 300], + [15, 60, 150],[15, 233, 300], + [16, 60, 150],[16, 234, 300], + [17, 60, 140],[17, 235, 300], + [18, 60, 135],[18, 235, 300], + [19, 60, 126],[19, 236, 300], + [20, 103, 126],[20, 240, 300], + [21, 105, 125],[21, 241, 300], + [22, 105, 125],[22, 241, 300], + [23, 105, 124],[23, 244, 300], + [24, 105, 123],[24, 245, 300], + [25, 106, 122],[25, 246, 300], + [26, 107, 121],[26, 247, 300], + [27, 108, 120],[27, 248, 300], + [28, 109, 119],[28, 248, 300], + [29, 110, 118],[29, 250, 300], + [30, 111, 117],[30, 250, 300], + [31, 112.5, 116],[31, 251, 300], + [32, 251, 300], + [33, 252, 300], + [34, 252, 300], + [35, 253, 300], + [36, 253, 300], + [37, 254, 300], + [38, 254, 300], + [39, 255, 300], + [40, 255, 300], + [41, 256, 300], + [42, 256, 300], + [43, 257, 300], + [44, 258, 300], + [45, 259, 300], + [46, 264, 300], + [47, 265, 300], + [48, 265, 300], + [49, 266, 300], + [50, 267, 300], + [52, 268, 300], + [0, 0, 360], [3, 0, 360], [6, 0, 360], [9, 0, 360], diff --git a/aip_x2_gen2_launch/launch/lidar.launch.xml b/aip_x2_gen2_launch/launch/lidar.launch.xml index e405300d..011470e1 100644 --- a/aip_x2_gen2_launch/launch/lidar.launch.xml +++ b/aip_x2_gen2_launch/launch/lidar.launch.xml @@ -294,6 +294,7 @@ + From b6caf046c4f313aa1291b0e4affe16a3863d3d67 Mon Sep 17 00:00:00 2001 From: kotaro-hihara Date: Thu, 17 Oct 2024 16:04:26 +0900 Subject: [PATCH 10/20] chore right_lower filter param to avoid rviz error Signed-off-by: kotaro-hihara --- .../left_upper/point_filters_full.param.yaml | 65 ++++++++++++++++++- 1 file changed, 64 insertions(+), 1 deletion(-) diff --git a/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_full.param.yaml b/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_full.param.yaml index 7ff58606..8044ccb2 100644 --- a/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_full.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_full.param.yaml @@ -2,4 +2,67 @@ ros__parameters: point_filters: | { - } + "ring_section_filter": [ + [15, 143.95, 147.1], + [31, 348, 360], + [38, 357, 360], + [45, 341.5, 360], + [52, 339, 360], + [59, 99, 101.5],[59, 340, 360], + [61, 331, 341], + [62, 331, 341], + [63, 331, 341], + [64, 331, 341], + [65, 331, 341], + [66, 319, 359.5], + [67, 330, 342], + [68, 330, 342], + [69, 330, 342], + [70, 331, 360], + [71, 331, 341], + [72, 319, 322],[72, 331, 341], + [73, 316, 360], + [74, 318, 341], + [75, 318, 341], + [76, 318, 341], + [77, 318, 360], + [77, 318, 360], + [78, 318, 360], + [79, 315, 360], + [80, 318, 360], + [81, 318, 360], + [82, 318, 360], + [83, 318, 360], + [84, 319, 360], + [85, 319, 360], + [86, 319, 360], + [87, 320, 360], + [88, 315, 360], + [89, 322, 323], + [91, 287.55, 289.90], + [92, 287.55, 289.75],[92, 315, 360], + [96, 316.5, 360], + [100, 316.5, 360], + [104, 316.5, 360], + [108, 314, 360], + [109, 314.74, 60], + [110, 312.74, 360], + [111, 312.73, 360], + [112, 308.48, 360], + [113, 305.68, 360], + [114, 308.58, 360], + [115, 307, 360], + [116, 303, 360], + [117, 303, 360], + [118, 303.81, 360], + [119, 302.09, 360], + [120, 298.42, 360], + [121, 299.63, 360], + [122, 298.42, 360], + [123, 298.42, 360], + [124, 293, 360], + [125, 90, 91],[125, 293, 360], + [126, 90, 91],[126, 292.12, 360], + [127, 90, 91],[127, 289.71, 360] + ] + } \ No newline at end of file From 29daa2bba711b0414ed59c11679d89bddd322042 Mon Sep 17 00:00:00 2001 From: kotaro-hihara Date: Thu, 17 Oct 2024 16:05:15 +0900 Subject: [PATCH 11/20] fix left_upper FOV Signed-off-by: kotaro-hihara --- .../left_upper/point_filters_full.param.yaml | 32 +++++---- .../point_filters_one_third.param.yaml | 65 +++++++++++++++++++ .../point_filters_two_third.param.yaml | 65 +++++++++++++++++++ .../right_lower/point_filters_full.param.yaml | 2 +- aip_x2_gen2_launch/launch/lidar.launch.xml | 4 +- 5 files changed, 151 insertions(+), 17 deletions(-) diff --git a/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_full.param.yaml b/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_full.param.yaml index 8044ccb2..f1cf593a 100644 --- a/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_full.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_full.param.yaml @@ -3,22 +3,26 @@ point_filters: | { "ring_section_filter": [ - [15, 143.95, 147.1], + [11, 322, 336],[11, 354, 360], + [15, 143.95, 147.1],[15, 318, 360], + [19, 330, 360], + [23, 330, 360], [31, 348, 360], - [38, 357, 360], - [45, 341.5, 360], + [38, 350, 360], + [45, 339, 360], [52, 339, 360], - [59, 99, 101.5],[59, 340, 360], - [61, 331, 341], - [62, 331, 341], - [63, 331, 341], - [64, 331, 341], - [65, 331, 341], - [66, 319, 359.5], + [59, 99, 101.5],[59, 330, 360], + [60, 330, 341], + [61, 330, 341], + [62, 330, 341], + [63, 330, 341], + [64, 330, 341], + [65, 330, 341], + [66, 319, 356], [67, 330, 342], [68, 330, 342], [69, 330, 342], - [70, 331, 360], + [70, 317, 360], [71, 331, 341], [72, 319, 322],[72, 331, 341], [73, 316, 360], @@ -41,9 +45,9 @@ [89, 322, 323], [91, 287.55, 289.90], [92, 287.55, 289.75],[92, 315, 360], - [96, 316.5, 360], - [100, 316.5, 360], - [104, 316.5, 360], + [96, 316, 360], + [100, 316, 360], + [104, 316, 360], [108, 314, 360], [109, 314.74, 60], [110, 312.74, 360], diff --git a/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_one_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_one_third.param.yaml index 075381cc..75ae9a37 100644 --- a/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_one_third.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_one_third.param.yaml @@ -3,6 +3,71 @@ point_filters: | { "ring_section_filter": [ + [11, 322, 336],[11, 354, 360], + [15, 143.95, 147.1],[15, 318, 360], + [19, 330, 360], + [23, 330, 360], + [31, 348, 360], + [38, 350, 360], + [45, 339, 360], + [52, 339, 360], + [59, 99, 101.5],[59, 330, 360], + [60, 330, 341], + [61, 330, 341], + [62, 330, 341], + [63, 330, 341], + [64, 330, 341], + [65, 330, 341], + [66, 319, 356], + [67, 330, 342], + [68, 330, 342], + [69, 330, 342], + [70, 317, 360], + [71, 331, 341], + [72, 319, 322],[72, 331, 341], + [73, 316, 360], + [74, 318, 341], + [75, 318, 341], + [76, 318, 341], + [77, 318, 360], + [77, 318, 360], + [78, 318, 360], + [79, 315, 360], + [80, 318, 360], + [81, 318, 360], + [82, 318, 360], + [83, 318, 360], + [84, 319, 360], + [85, 319, 360], + [86, 319, 360], + [87, 320, 360], + [88, 315, 360], + [89, 322, 323], + [91, 287.55, 289.90], + [92, 287.55, 289.75],[92, 315, 360], + [96, 316, 360], + [100, 316, 360], + [104, 316, 360], + [108, 314, 360], + [109, 314.74, 60], + [110, 312.74, 360], + [111, 312.73, 360], + [112, 308.48, 360], + [113, 305.68, 360], + [114, 308.58, 360], + [115, 307, 360], + [116, 303, 360], + [117, 303, 360], + [118, 303.81, 360], + [119, 302.09, 360], + [120, 298.42, 360], + [121, 299.63, 360], + [122, 298.42, 360], + [123, 298.42, 360], + [124, 293, 360], + [125, 90, 91],[125, 293, 360], + [126, 90, 91],[126, 292.12, 360], + [127, 90, 91],[127, 289.71, 360], [1, 0, 360], [2, 0, 360], [4, 0, 360], diff --git a/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_two_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_two_third.param.yaml index 45a57f55..fb9f98f5 100644 --- a/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_two_third.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_two_third.param.yaml @@ -3,6 +3,71 @@ point_filters: | { "ring_section_filter": [ + [11, 322, 336],[11, 354, 360], + [15, 143.95, 147.1],[15, 318, 360], + [19, 330, 360], + [23, 330, 360], + [31, 348, 360], + [38, 350, 360], + [45, 339, 360], + [52, 339, 360], + [59, 99, 101.5],[59, 330, 360], + [60, 330, 341], + [61, 330, 341], + [62, 330, 341], + [63, 330, 341], + [64, 330, 341], + [65, 330, 341], + [66, 319, 356], + [67, 330, 342], + [68, 330, 342], + [69, 330, 342], + [70, 317, 360], + [71, 331, 341], + [72, 319, 322],[72, 331, 341], + [73, 316, 360], + [74, 318, 341], + [75, 318, 341], + [76, 318, 341], + [77, 318, 360], + [77, 318, 360], + [78, 318, 360], + [79, 315, 360], + [80, 318, 360], + [81, 318, 360], + [82, 318, 360], + [83, 318, 360], + [84, 319, 360], + [85, 319, 360], + [86, 319, 360], + [87, 320, 360], + [88, 315, 360], + [89, 322, 323], + [91, 287.55, 289.90], + [92, 287.55, 289.75],[92, 315, 360], + [96, 316, 360], + [100, 316, 360], + [104, 316, 360], + [108, 314, 360], + [109, 314.74, 60], + [110, 312.74, 360], + [111, 312.73, 360], + [112, 308.48, 360], + [113, 305.68, 360], + [114, 308.58, 360], + [115, 307, 360], + [116, 303, 360], + [117, 303, 360], + [118, 303.81, 360], + [119, 302.09, 360], + [120, 298.42, 360], + [121, 299.63, 360], + [122, 298.42, 360], + [123, 298.42, 360], + [124, 293, 360], + [125, 90, 91],[125, 293, 360], + [126, 90, 91],[126, 292.12, 360], + [127, 90, 91],[127, 289.71, 360], [0, 0, 360], [3, 0, 360], [6, 0, 360], diff --git a/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_full.param.yaml b/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_full.param.yaml index d462c923..caad57ac 100644 --- a/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_full.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_full.param.yaml @@ -54,7 +54,7 @@ [48, 265, 300], [49, 266, 300], [50, 267, 300], - [51, 267, 270], + [51, 267, 269], [52, 268, 300] ] } diff --git a/aip_x2_gen2_launch/launch/lidar.launch.xml b/aip_x2_gen2_launch/launch/lidar.launch.xml index 011470e1..98ba2bfb 100644 --- a/aip_x2_gen2_launch/launch/lidar.launch.xml +++ b/aip_x2_gen2_launch/launch/lidar.launch.xml @@ -70,7 +70,7 @@ - + @@ -89,7 +89,7 @@ - + From f55c0923f0f00c2d2ab569299409074ba353a56c Mon Sep 17 00:00:00 2001 From: kotaro-hihara Date: Mon, 21 Oct 2024 19:11:51 +0900 Subject: [PATCH 12/20] fix right_upper FOV --- .../right_upper/point_filters_full.param.yaml | 113 +++++++++++++++++- .../point_filters_one_third.param.yaml | 109 +++++++++++++++++ .../point_filters_two_third.param.yaml | 109 +++++++++++++++++ aip_x2_gen2_launch/launch/lidar.launch.xml | 2 +- 4 files changed, 331 insertions(+), 2 deletions(-) diff --git a/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_full.param.yaml b/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_full.param.yaml index 7ff58606..c2e888b2 100644 --- a/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_full.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_full.param.yaml @@ -2,4 +2,115 @@ ros__parameters: point_filters: | { - } + "ring_section_filter": [ + [0, 0, 15], + [1, 0, 15], + [2, 0, 15], + [3, 0, 15], + [23, 0, 10], + [24, 0, 10], + [25, 0, 10], + [26, 0, 10], + [27, 0, 10], + [28, 0, 10], + [29, 0, 10], + [30, 0, 15], + [31, 0, 15], + [32, 0, 15], + [33, 0, 10], + [34, 0, 10], + [35, 0, 10], + [36, 0, 10], + [37, 0, 10], + [38, 0, 10], + [39, 0, 10], + [40, 0, 10], + [41, 0, 10], + [42, 0, 10], + [43, 0, 10], + [44, 0, 10], + [45, 0, 25], + [46, 0, 25], + [47, 0, 25], + [48, 0, 26], + [49, 0, 26], + [50, 0, 27], + [51, 0, 40], + [52, 0, 40], + [53, 0, 40], + [54, 0, 40], + [55, 0, 40], + [56, 0, 40], + [57, 0, 45], + [58, 0, 45], + [59, 0, 45], + [60, 0, 45], + [61, 0, 40], + [62, 0, 35], + [63, 0, 35], + [64, 0, 35], + [65, 0, 35], + [66, 0, 40], + [67, 0, 40], + [68, 0, 42], + [69, 0, 42], + [70, 0, 42], + [71, 0, 44], + [72, 0, 44], + [73, 0, 44], + [74, 0, 44], + [75, 0, 44], + [76, 0, 45], + [77, 0, 45], + [78, 0, 45], + [79, 0, 45], + [80, 0, 45], + [81, 0, 45], + [82, 0, 45], + [83, 0, 45], + [84, 0, 45], + [85, 0, 45], + [86, 0, 45], + [87, 0, 45], + [88, 0, 45], + [89, 0, 45], + [90, 0, 45], + [91, 0, 45], + [92, 0, 45], + [93, 0, 44], + [94, 0, 44], + [95, 0, 44], + [96, 0, 44], + [97, 0, 44], + [98, 0, 44], + [99, 0, 44], + [100, 0, 46], + [101, 0, 46], + [102, 0, 46], + [103, 0, 44], + [104, 0, 44],[104, 269, 270], + [105, 0, 44],[105, 269, 270], + [106, 0, 44],[106, 269, 270], + [107, 0, 44],[107, 269, 270], + [108, 0, 46],[108, 269, 270], + [109, 0, 47],[109, 269, 270], + [110, 0, 48],[110, 87.78, 89.97],[110, 269, 270], + [111, 0, 49],[111, 269, 270], + [112, 0, 50],[112, 269, 270], + [113, 0, 52],[113, 269, 270], + [114, 0, 53],[114, 269, 270], + [115, 0, 54],[115, 269, 270], + [116, 0, 55],[116, 269, 270], + [117, 0, 56],[117, 269, 270], + [118, 0, 57],[118, 269, 270], + [119, 0, 58],[119, 269, 270], + [120, 0, 59],[120, 269, 270], + [121, 0, 61],[121, 269, 270], + [122, 0, 63],[122, 268, 270], + [123, 0, 66],[123, 268, 270], + [124, 0, 69],[124, 268, 270], + [125, 0, 69],[125, 267, 270], + [126, 0, 71],[126, 267, 270], + [127, 0, 72],[127, 267, 270] + ] + } \ No newline at end of file diff --git a/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_one_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_one_third.param.yaml index 075381cc..b9cefcae 100644 --- a/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_one_third.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_one_third.param.yaml @@ -3,6 +3,115 @@ point_filters: | { "ring_section_filter": [ + [0, 0, 15], + [1, 0, 15], + [2, 0, 15], + [3, 0, 15], + [23, 0, 10], + [24, 0, 10], + [25, 0, 10], + [26, 0, 10], + [27, 0, 10], + [28, 0, 10], + [29, 0, 10], + [30, 0, 15], + [31, 0, 15], + [32, 0, 15], + [33, 0, 10], + [34, 0, 10], + [35, 0, 10], + [36, 0, 10], + [37, 0, 10], + [38, 0, 10], + [39, 0, 10], + [40, 0, 10], + [41, 0, 10], + [42, 0, 10], + [43, 0, 10], + [44, 0, 10], + [45, 0, 25], + [46, 0, 25], + [47, 0, 25], + [48, 0, 26], + [49, 0, 26], + [50, 0, 27], + [51, 0, 40], + [52, 0, 40], + [53, 0, 40], + [54, 0, 40], + [55, 0, 40], + [56, 0, 40], + [57, 0, 45], + [58, 0, 45], + [59, 0, 45], + [60, 0, 45], + [61, 0, 40], + [62, 0, 35], + [63, 0, 35], + [64, 0, 35], + [65, 0, 35], + [66, 0, 40], + [67, 0, 40], + [68, 0, 42], + [69, 0, 42], + [70, 0, 42], + [71, 0, 44], + [72, 0, 44], + [73, 0, 44], + [74, 0, 44], + [75, 0, 44], + [76, 0, 45], + [77, 0, 45], + [78, 0, 45], + [79, 0, 45], + [80, 0, 45], + [81, 0, 45], + [82, 0, 45], + [83, 0, 45], + [84, 0, 45], + [85, 0, 45], + [86, 0, 45], + [87, 0, 45], + [88, 0, 45], + [89, 0, 45], + [90, 0, 45], + [91, 0, 45], + [92, 0, 45], + [93, 0, 44], + [94, 0, 44], + [95, 0, 44], + [96, 0, 44], + [97, 0, 44], + [98, 0, 44], + [99, 0, 44], + [100, 0, 46], + [101, 0, 46], + [102, 0, 46], + [103, 0, 44], + [104, 0, 44],[104, 269, 270], + [105, 0, 44],[105, 269, 270], + [106, 0, 44],[106, 269, 270], + [107, 0, 44],[107, 269, 270], + [108, 0, 46],[108, 269, 270], + [109, 0, 47],[109, 269, 270], + [110, 0, 48],[110, 87.78, 89.97],[110, 269, 270], + [111, 0, 49],[111, 269, 270], + [112, 0, 50],[112, 269, 270], + [113, 0, 52],[113, 269, 270], + [114, 0, 53],[114, 269, 270], + [115, 0, 54],[115, 269, 270], + [116, 0, 55],[116, 269, 270], + [117, 0, 56],[117, 269, 270], + [118, 0, 57],[118, 269, 270], + [119, 0, 58],[119, 269, 270], + [120, 0, 59],[120, 269, 270], + [121, 0, 61],[121, 269, 270], + [122, 0, 63],[122, 268, 270], + [123, 0, 66],[123, 268, 270], + [124, 0, 69],[124, 268, 270], + [125, 0, 69],[125, 267, 270], + [126, 0, 71],[126, 267, 270], + [127, 0, 72],[127, 267, 270], [1, 0, 360], [2, 0, 360], [4, 0, 360], diff --git a/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_two_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_two_third.param.yaml index 45a57f55..aa456756 100644 --- a/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_two_third.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_two_third.param.yaml @@ -3,6 +3,115 @@ point_filters: | { "ring_section_filter": [ + [0, 0, 15], + [1, 0, 15], + [2, 0, 15], + [3, 0, 15], + [23, 0, 10], + [24, 0, 10], + [25, 0, 10], + [26, 0, 10], + [27, 0, 10], + [28, 0, 10], + [29, 0, 10], + [30, 0, 15], + [31, 0, 15], + [32, 0, 15], + [33, 0, 10], + [34, 0, 10], + [35, 0, 10], + [36, 0, 10], + [37, 0, 10], + [38, 0, 10], + [39, 0, 10], + [40, 0, 10], + [41, 0, 10], + [42, 0, 10], + [43, 0, 10], + [44, 0, 10], + [45, 0, 25], + [46, 0, 25], + [47, 0, 25], + [48, 0, 26], + [49, 0, 26], + [50, 0, 27], + [51, 0, 40], + [52, 0, 40], + [53, 0, 40], + [54, 0, 40], + [55, 0, 40], + [56, 0, 40], + [57, 0, 45], + [58, 0, 45], + [59, 0, 45], + [60, 0, 45], + [61, 0, 40], + [62, 0, 35], + [63, 0, 35], + [64, 0, 35], + [65, 0, 35], + [66, 0, 40], + [67, 0, 40], + [68, 0, 42], + [69, 0, 42], + [70, 0, 42], + [71, 0, 44], + [72, 0, 44], + [73, 0, 44], + [74, 0, 44], + [75, 0, 44], + [76, 0, 45], + [77, 0, 45], + [78, 0, 45], + [79, 0, 45], + [80, 0, 45], + [81, 0, 45], + [82, 0, 45], + [83, 0, 45], + [84, 0, 45], + [85, 0, 45], + [86, 0, 45], + [87, 0, 45], + [88, 0, 45], + [89, 0, 45], + [90, 0, 45], + [91, 0, 45], + [92, 0, 45], + [93, 0, 44], + [94, 0, 44], + [95, 0, 44], + [96, 0, 44], + [97, 0, 44], + [98, 0, 44], + [99, 0, 44], + [100, 0, 46], + [101, 0, 46], + [102, 0, 46], + [103, 0, 44], + [104, 0, 44],[104, 269, 270], + [105, 0, 44],[105, 269, 270], + [106, 0, 44],[106, 269, 270], + [107, 0, 44],[107, 269, 270], + [108, 0, 46],[108, 269, 270], + [109, 0, 47],[109, 269, 270], + [110, 0, 48],[110, 87.78, 89.97],[110, 269, 270], + [111, 0, 49],[111, 269, 270], + [112, 0, 50],[112, 269, 270], + [113, 0, 52],[113, 269, 270], + [114, 0, 53],[114, 269, 270], + [115, 0, 54],[115, 269, 270], + [116, 0, 55],[116, 269, 270], + [117, 0, 56],[117, 269, 270], + [118, 0, 57],[118, 269, 270], + [119, 0, 58],[119, 269, 270], + [120, 0, 59],[120, 269, 270], + [121, 0, 61],[121, 269, 270], + [122, 0, 63],[122, 268, 270], + [123, 0, 66],[123, 268, 270], + [124, 0, 69],[124, 268, 270], + [125, 0, 69],[125, 267, 270], + [126, 0, 71],[126, 267, 270], + [127, 0, 72],[127, 267, 270], [0, 0, 360], [3, 0, 360], [6, 0, 360], diff --git a/aip_x2_gen2_launch/launch/lidar.launch.xml b/aip_x2_gen2_launch/launch/lidar.launch.xml index 98ba2bfb..4b77d78d 100644 --- a/aip_x2_gen2_launch/launch/lidar.launch.xml +++ b/aip_x2_gen2_launch/launch/lidar.launch.xml @@ -226,7 +226,7 @@ - + From 59a1d7833fff180048adb5abf3b24d2f7ac6ecbe Mon Sep 17 00:00:00 2001 From: kotaro-hihara Date: Mon, 21 Oct 2024 19:49:57 +0900 Subject: [PATCH 13/20] update left_upper FOV --- .../point_filters/left_upper/point_filters_full.param.yaml | 2 +- .../point_filters/left_upper/point_filters_one_third.param.yaml | 2 +- .../point_filters/left_upper/point_filters_two_third.param.yaml | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_full.param.yaml b/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_full.param.yaml index f1cf593a..ecbfbd70 100644 --- a/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_full.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_full.param.yaml @@ -18,7 +18,7 @@ [63, 330, 341], [64, 330, 341], [65, 330, 341], - [66, 319, 356], + [66, 319, 360], [67, 330, 342], [68, 330, 342], [69, 330, 342], diff --git a/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_one_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_one_third.param.yaml index 75ae9a37..d97f176e 100644 --- a/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_one_third.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_one_third.param.yaml @@ -18,7 +18,7 @@ [63, 330, 341], [64, 330, 341], [65, 330, 341], - [66, 319, 356], + [66, 319, 360], [67, 330, 342], [68, 330, 342], [69, 330, 342], diff --git a/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_two_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_two_third.param.yaml index fb9f98f5..18753f9a 100644 --- a/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_two_third.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_two_third.param.yaml @@ -18,7 +18,7 @@ [63, 330, 341], [64, 330, 341], [65, 330, 341], - [66, 319, 356], + [66, 319, 360], [67, 330, 342], [68, 330, 342], [69, 330, 342], From 72bd94a949a32d0644972367545061184dd017c2 Mon Sep 17 00:00:00 2001 From: kotaro-hihara Date: Mon, 21 Oct 2024 19:58:01 +0900 Subject: [PATCH 14/20] update right_lower FOV --- .../point_filters/right_lower/point_filters_full.param.yaml | 2 +- .../right_lower/point_filters_one_third.param.yaml | 1 + .../right_lower/point_filters_two_third.param.yaml | 1 + 3 files changed, 3 insertions(+), 1 deletion(-) diff --git a/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_full.param.yaml b/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_full.param.yaml index caad57ac..95e10b77 100644 --- a/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_full.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_full.param.yaml @@ -54,7 +54,7 @@ [48, 265, 300], [49, 266, 300], [50, 267, 300], - [51, 267, 269], + [51, 267, 300], [52, 268, 300] ] } diff --git a/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_one_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_one_third.param.yaml index 64aca2e7..351c5363 100644 --- a/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_one_third.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_one_third.param.yaml @@ -54,6 +54,7 @@ [48, 265, 300], [49, 266, 300], [50, 267, 300], + [51, 267, 300], [52, 268, 300], [1, 0, 360], [2, 0, 360], diff --git a/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_two_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_two_third.param.yaml index a74e4172..6e82a756 100644 --- a/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_two_third.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_two_third.param.yaml @@ -54,6 +54,7 @@ [48, 265, 300], [49, 266, 300], [50, 267, 300], + [51, 267, 300], [52, 268, 300], [0, 0, 360], [3, 0, 360], From adf5ecbbfec0ea736b6ff18bd44f3f4efa568b5a Mon Sep 17 00:00:00 2001 From: kotaro-hihara Date: Mon, 21 Oct 2024 20:19:54 +0900 Subject: [PATCH 15/20] update rear_upper FOV --- .../point_filters_one_third.param.yaml | 106 ++++++++++++++++++ .../point_filters_two_third.param.yaml | 106 ++++++++++++++++++ 2 files changed, 212 insertions(+) diff --git a/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_one_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_one_third.param.yaml index 075381cc..d0cada74 100644 --- a/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_one_third.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_one_third.param.yaml @@ -3,6 +3,112 @@ point_filters: | { "ring_section_filter": [ + [0, 60,95],[0, 270,300], + [1, 60,95],[1, 270,300], + [2, 60,95],[2, 270,300], + [3, 60,95],[3, 270,300], + [4, 60,98],[4, 270,300], + [5, 60,98],[5, 270,300], + [6, 60,98], + [7, 60,98], + [8, 60,92], + [9, 60,92], + [10, 270,300], + [11, 270,300], + [12, 270,300], + [14, 265,300], + [15, 265,300], + [16, 265,300], + [17, 263,300], + [18, 263,300], + [19, 263,300], + [20, 263,300], + [21, 263,300], + [22, 264,300], + [23, 264,300], + [24, 264,300], + [30, 60,99],[30,264,300], + [31, 60,99],[31,264,300], + [32, 60,99],[32,264,300], + [33, 60,90], + [34, 60,90], + [35, 60,90], + [36, 60,94], + [37, 60,94], + [38, 60,94], + [39, 60,94], + [40, 60,94], + [41, 60,90], + [42, 60,90], + [43, 60,90], + [44, 60,100],[44, 262,300], + [45, 60,100],[45, 262,300], + [46, 60,100],[46, 262,300], + [51, 60,100], + [52, 60,100], + [53, 60,100], + [58, 60,99],[58, 269,300], + [59, 60,99],[59, 269,300], + [60, 60,99],[60, 269,300], + [65, 259.5,300], + [66, 259.5,300], + [67, 259.5,300], + [72, 265,300], + [73, 265,300], + [74, 265,300], + [75, 265,300], + [76, 265,300], + [77, 265,300], + [78, 60,98],[78, 262,300], + [79, 60,98],[79, 262,300], + [80, 60,98],[80, 262,300], + [81, 60,98],[81, 262,300], + [82, 60,98],[82, 262,300], + [83, 60,98],[83, 262,300], + [84, 60,98],[84, 262,300], + [85, 60,98],[85, 262,300], + [86, 60,98],[86, 262,300], + [87, 60,100],[87, 262,300], + [88, 60,100],[88, 262,300], + [89, 60,100],[89, 262,300], + [90, 262,300], + [91, 60,101], [91, 270,300], + [92, 60,101], [92, 270,300], + [93, 60,101], [93, 270,300], + [94, 60,102], [94, 270,300], + [95, 60,102],[95, 267,300], + [96, 60,102],[96, 267,300], + [97, 60,102],[97, 267,300], + [98, 60,95], + [99, 60,95], + [100, 60,95], + [101, 60,95], + [102, 60,95], + [103, 60,99], + [104, 60,97], + [105, 60,97], + [106, 60,97], + [107, 60,98], + [108, 60,98], + [109, 60,98], + [110, 60,93], + [111, 60,93],[111, 270,300], + [112, 60,93],[112, 270,300], + [113, 60,93],[113, 270,300], + [114, 60,98], + [115, 60,98], + [116, 60,98], + [117, 60,98], + [118, 60,100], + [119, 60,101],[119, 269,300], + [120, 60,101],[120, 269,300], + [121, 60,101],[121, 264,300], + [122, 60,101],[122, 264,300], + [123, 60,103], [123, 264,300], + [124, 60,103], [124, 258,300], + [125, 60,103], [125, 258,300], + [126, 60,103], [126, 258,300], + [127, 60,103], [127, 258,300], [1, 0, 360], [2, 0, 360], [4, 0, 360], diff --git a/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_two_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_two_third.param.yaml index 45a57f55..43075926 100644 --- a/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_two_third.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_two_third.param.yaml @@ -3,6 +3,112 @@ point_filters: | { "ring_section_filter": [ + [0, 60,95],[0, 270,300], + [1, 60,95],[1, 270,300], + [2, 60,95],[2, 270,300], + [3, 60,95],[3, 270,300], + [4, 60,98],[4, 270,300], + [5, 60,98],[5, 270,300], + [6, 60,98], + [7, 60,98], + [8, 60,92], + [9, 60,92], + [10, 270,300], + [11, 270,300], + [12, 270,300], + [14, 265,300], + [15, 265,300], + [16, 265,300], + [17, 263,300], + [18, 263,300], + [19, 263,300], + [20, 263,300], + [21, 263,300], + [22, 264,300], + [23, 264,300], + [24, 264,300], + [30, 60,99],[30,264,300], + [31, 60,99],[31,264,300], + [32, 60,99],[32,264,300], + [33, 60,90], + [34, 60,90], + [35, 60,90], + [36, 60,94], + [37, 60,94], + [38, 60,94], + [39, 60,94], + [40, 60,94], + [41, 60,90], + [42, 60,90], + [43, 60,90], + [44, 60,100],[44, 262,300], + [45, 60,100],[45, 262,300], + [46, 60,100],[46, 262,300], + [51, 60,100], + [52, 60,100], + [53, 60,100], + [58, 60,99],[58, 269,300], + [59, 60,99],[59, 269,300], + [60, 60,99],[60, 269,300], + [65, 259.5,300], + [66, 259.5,300], + [67, 259.5,300], + [72, 265,300], + [73, 265,300], + [74, 265,300], + [75, 265,300], + [76, 265,300], + [77, 265,300], + [78, 60,98],[78, 262,300], + [79, 60,98],[79, 262,300], + [80, 60,98],[80, 262,300], + [81, 60,98],[81, 262,300], + [82, 60,98],[82, 262,300], + [83, 60,98],[83, 262,300], + [84, 60,98],[84, 262,300], + [85, 60,98],[85, 262,300], + [86, 60,98],[86, 262,300], + [87, 60,100],[87, 262,300], + [88, 60,100],[88, 262,300], + [89, 60,100],[89, 262,300], + [90, 262,300], + [91, 60,101], [91, 270,300], + [92, 60,101], [92, 270,300], + [93, 60,101], [93, 270,300], + [94, 60,102], [94, 270,300], + [95, 60,102],[95, 267,300], + [96, 60,102],[96, 267,300], + [97, 60,102],[97, 267,300], + [98, 60,95], + [99, 60,95], + [100, 60,95], + [101, 60,95], + [102, 60,95], + [103, 60,99], + [104, 60,97], + [105, 60,97], + [106, 60,97], + [107, 60,98], + [108, 60,98], + [109, 60,98], + [110, 60,93], + [111, 60,93],[111, 270,300], + [112, 60,93],[112, 270,300], + [113, 60,93],[113, 270,300], + [114, 60,98], + [115, 60,98], + [116, 60,98], + [117, 60,98], + [118, 60,100], + [119, 60,101],[119, 269,300], + [120, 60,101],[120, 269,300], + [121, 60,101],[121, 264,300], + [122, 60,101],[122, 264,300], + [123, 60,103], [123, 264,300], + [124, 60,103], [124, 258,300], + [125, 60,103], [125, 258,300], + [126, 60,103], [126, 258,300], + [127, 60,103], [127, 258,300], [0, 0, 360], [3, 0, 360], [6, 0, 360], From 52522de0cc5c114549c5fcf69a60e55f73ee1ed8 Mon Sep 17 00:00:00 2001 From: kotaro-hihara Date: Tue, 22 Oct 2024 14:20:17 +0900 Subject: [PATCH 16/20] change defalut point_filters path --- .../{ => point_filters/dafault}/point_filters_full.param.yaml | 0 .../dafault}/point_filters_left_upper.param.yaml | 0 .../dafault}/point_filters_one_half.param.yaml | 0 .../dafault}/point_filters_one_third.param.yaml | 0 .../dafault}/point_filters_right_upper.param.yaml | 0 .../dafault}/point_filters_two_third.param.yaml | 0 aip_x2_gen2_launch/launch/hesai_OT128.launch.xml | 2 +- aip_x2_gen2_launch/launch/hesai_QT128.launch.xml | 2 +- 8 files changed, 2 insertions(+), 2 deletions(-) rename aip_x2_gen2_launch/config/{ => point_filters/dafault}/point_filters_full.param.yaml (100%) rename aip_x2_gen2_launch/config/{ => point_filters/dafault}/point_filters_left_upper.param.yaml (100%) rename aip_x2_gen2_launch/config/{ => point_filters/dafault}/point_filters_one_half.param.yaml (100%) rename aip_x2_gen2_launch/config/{ => point_filters/dafault}/point_filters_one_third.param.yaml (100%) rename aip_x2_gen2_launch/config/{ => point_filters/dafault}/point_filters_right_upper.param.yaml (100%) rename aip_x2_gen2_launch/config/{ => point_filters/dafault}/point_filters_two_third.param.yaml (100%) diff --git a/aip_x2_gen2_launch/config/point_filters_full.param.yaml b/aip_x2_gen2_launch/config/point_filters/dafault/point_filters_full.param.yaml similarity index 100% rename from aip_x2_gen2_launch/config/point_filters_full.param.yaml rename to aip_x2_gen2_launch/config/point_filters/dafault/point_filters_full.param.yaml diff --git a/aip_x2_gen2_launch/config/point_filters_left_upper.param.yaml b/aip_x2_gen2_launch/config/point_filters/dafault/point_filters_left_upper.param.yaml similarity index 100% rename from aip_x2_gen2_launch/config/point_filters_left_upper.param.yaml rename to aip_x2_gen2_launch/config/point_filters/dafault/point_filters_left_upper.param.yaml diff --git a/aip_x2_gen2_launch/config/point_filters_one_half.param.yaml b/aip_x2_gen2_launch/config/point_filters/dafault/point_filters_one_half.param.yaml similarity index 100% rename from aip_x2_gen2_launch/config/point_filters_one_half.param.yaml rename to aip_x2_gen2_launch/config/point_filters/dafault/point_filters_one_half.param.yaml diff --git a/aip_x2_gen2_launch/config/point_filters_one_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/dafault/point_filters_one_third.param.yaml similarity index 100% rename from aip_x2_gen2_launch/config/point_filters_one_third.param.yaml rename to aip_x2_gen2_launch/config/point_filters/dafault/point_filters_one_third.param.yaml diff --git a/aip_x2_gen2_launch/config/point_filters_right_upper.param.yaml b/aip_x2_gen2_launch/config/point_filters/dafault/point_filters_right_upper.param.yaml similarity index 100% rename from aip_x2_gen2_launch/config/point_filters_right_upper.param.yaml rename to aip_x2_gen2_launch/config/point_filters/dafault/point_filters_right_upper.param.yaml diff --git a/aip_x2_gen2_launch/config/point_filters_two_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/dafault/point_filters_two_third.param.yaml similarity index 100% rename from aip_x2_gen2_launch/config/point_filters_two_third.param.yaml rename to aip_x2_gen2_launch/config/point_filters/dafault/point_filters_two_third.param.yaml diff --git a/aip_x2_gen2_launch/launch/hesai_OT128.launch.xml b/aip_x2_gen2_launch/launch/hesai_OT128.launch.xml index 6315c1b3..ee892983 100644 --- a/aip_x2_gen2_launch/launch/hesai_OT128.launch.xml +++ b/aip_x2_gen2_launch/launch/hesai_OT128.launch.xml @@ -30,7 +30,7 @@ - + diff --git a/aip_x2_gen2_launch/launch/hesai_QT128.launch.xml b/aip_x2_gen2_launch/launch/hesai_QT128.launch.xml index 8b0276d5..64825178 100644 --- a/aip_x2_gen2_launch/launch/hesai_QT128.launch.xml +++ b/aip_x2_gen2_launch/launch/hesai_QT128.launch.xml @@ -31,7 +31,7 @@ - + From 5b4f606c40d549be66d281fbef80b6d35fcdb6a0 Mon Sep 17 00:00:00 2001 From: kotaro-hihara Date: Wed, 23 Oct 2024 14:37:56 +0900 Subject: [PATCH 17/20] update FOV --- aip_x2_gen2_launch/launch/lidar.launch.xml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/aip_x2_gen2_launch/launch/lidar.launch.xml b/aip_x2_gen2_launch/launch/lidar.launch.xml index 4b77d78d..17ae4930 100644 --- a/aip_x2_gen2_launch/launch/lidar.launch.xml +++ b/aip_x2_gen2_launch/launch/lidar.launch.xml @@ -35,8 +35,8 @@ - - + + @@ -70,7 +70,7 @@ - + From 39aebf3d90ee44fe33f041cd4cb3f1a00da9ca5b Mon Sep 17 00:00:00 2001 From: kotaro-hihara Date: Wed, 23 Oct 2024 14:50:41 +0900 Subject: [PATCH 18/20] update rear_upper FOV --- .../right_upper/point_filters_full.param.yaml | 48 +++++++++---------- .../point_filters_one_third.param.yaml | 48 +++++++++---------- .../point_filters_two_third.param.yaml | 48 +++++++++---------- 3 files changed, 72 insertions(+), 72 deletions(-) diff --git a/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_full.param.yaml b/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_full.param.yaml index c2e888b2..32eadc16 100644 --- a/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_full.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_full.param.yaml @@ -88,29 +88,29 @@ [101, 0, 46], [102, 0, 46], [103, 0, 44], - [104, 0, 44],[104, 269, 270], - [105, 0, 44],[105, 269, 270], - [106, 0, 44],[106, 269, 270], - [107, 0, 44],[107, 269, 270], - [108, 0, 46],[108, 269, 270], - [109, 0, 47],[109, 269, 270], - [110, 0, 48],[110, 87.78, 89.97],[110, 269, 270], - [111, 0, 49],[111, 269, 270], - [112, 0, 50],[112, 269, 270], - [113, 0, 52],[113, 269, 270], - [114, 0, 53],[114, 269, 270], - [115, 0, 54],[115, 269, 270], - [116, 0, 55],[116, 269, 270], - [117, 0, 56],[117, 269, 270], - [118, 0, 57],[118, 269, 270], - [119, 0, 58],[119, 269, 270], - [120, 0, 59],[120, 269, 270], - [121, 0, 61],[121, 269, 270], - [122, 0, 63],[122, 268, 270], - [123, 0, 66],[123, 268, 270], - [124, 0, 69],[124, 268, 270], - [125, 0, 69],[125, 267, 270], - [126, 0, 71],[126, 267, 270], - [127, 0, 72],[127, 267, 270] + [104, 0, 44],[104, 269, 360], + [105, 0, 44],[105, 269, 360], + [106, 0, 44],[106, 269, 360], + [107, 0, 44],[107, 269, 360], + [108, 0, 46],[108, 269, 360], + [109, 0, 47],[109, 269, 360], + [110, 0, 48],[110, 87.78, 89.97],[110, 269, 360], + [111, 0, 49],[111, 269, 360], + [112, 0, 50],[112, 269, 360], + [113, 0, 52],[113, 269, 360], + [114, 0, 53],[114, 269, 360], + [115, 0, 54],[115, 269, 360], + [116, 0, 55],[116, 269, 360], + [117, 0, 56],[117, 269, 360], + [118, 0, 57],[118, 269, 360], + [119, 0, 58],[119, 269, 360], + [120, 0, 59],[120, 269, 360], + [121, 0, 61],[121, 269, 360], + [122, 0, 63],[122, 268, 360], + [123, 0, 66],[123, 268, 360], + [124, 0, 69],[124, 268, 360], + [125, 0, 69],[125, 267, 360], + [126, 0, 71],[126, 267, 360], + [127, 0, 72],[127, 267, 360] ] } \ No newline at end of file diff --git a/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_one_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_one_third.param.yaml index b9cefcae..d3f2c327 100644 --- a/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_one_third.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_one_third.param.yaml @@ -88,30 +88,30 @@ [101, 0, 46], [102, 0, 46], [103, 0, 44], - [104, 0, 44],[104, 269, 270], - [105, 0, 44],[105, 269, 270], - [106, 0, 44],[106, 269, 270], - [107, 0, 44],[107, 269, 270], - [108, 0, 46],[108, 269, 270], - [109, 0, 47],[109, 269, 270], - [110, 0, 48],[110, 87.78, 89.97],[110, 269, 270], - [111, 0, 49],[111, 269, 270], - [112, 0, 50],[112, 269, 270], - [113, 0, 52],[113, 269, 270], - [114, 0, 53],[114, 269, 270], - [115, 0, 54],[115, 269, 270], - [116, 0, 55],[116, 269, 270], - [117, 0, 56],[117, 269, 270], - [118, 0, 57],[118, 269, 270], - [119, 0, 58],[119, 269, 270], - [120, 0, 59],[120, 269, 270], - [121, 0, 61],[121, 269, 270], - [122, 0, 63],[122, 268, 270], - [123, 0, 66],[123, 268, 270], - [124, 0, 69],[124, 268, 270], - [125, 0, 69],[125, 267, 270], - [126, 0, 71],[126, 267, 270], - [127, 0, 72],[127, 267, 270], + [104, 0, 44],[104, 269, 360], + [105, 0, 44],[105, 269, 360], + [106, 0, 44],[106, 269, 360], + [107, 0, 44],[107, 269, 360], + [108, 0, 46],[108, 269, 360], + [109, 0, 47],[109, 269, 360], + [110, 0, 48],[110, 87.78, 89.97],[110, 269, 360], + [111, 0, 49],[111, 269, 360], + [112, 0, 50],[112, 269, 360], + [113, 0, 52],[113, 269, 360], + [114, 0, 53],[114, 269, 360], + [115, 0, 54],[115, 269, 360], + [116, 0, 55],[116, 269, 360], + [117, 0, 56],[117, 269, 360], + [118, 0, 57],[118, 269, 360], + [119, 0, 58],[119, 269, 360], + [120, 0, 59],[120, 269, 360], + [121, 0, 61],[121, 269, 360], + [122, 0, 63],[122, 268, 360], + [123, 0, 66],[123, 268, 360], + [124, 0, 69],[124, 268, 360], + [125, 0, 69],[125, 267, 360], + [126, 0, 71],[126, 267, 360], + [127, 0, 72],[127, 267, 360], [1, 0, 360], [2, 0, 360], [4, 0, 360], diff --git a/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_two_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_two_third.param.yaml index aa456756..c5f34ead 100644 --- a/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_two_third.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_two_third.param.yaml @@ -88,30 +88,30 @@ [101, 0, 46], [102, 0, 46], [103, 0, 44], - [104, 0, 44],[104, 269, 270], - [105, 0, 44],[105, 269, 270], - [106, 0, 44],[106, 269, 270], - [107, 0, 44],[107, 269, 270], - [108, 0, 46],[108, 269, 270], - [109, 0, 47],[109, 269, 270], - [110, 0, 48],[110, 87.78, 89.97],[110, 269, 270], - [111, 0, 49],[111, 269, 270], - [112, 0, 50],[112, 269, 270], - [113, 0, 52],[113, 269, 270], - [114, 0, 53],[114, 269, 270], - [115, 0, 54],[115, 269, 270], - [116, 0, 55],[116, 269, 270], - [117, 0, 56],[117, 269, 270], - [118, 0, 57],[118, 269, 270], - [119, 0, 58],[119, 269, 270], - [120, 0, 59],[120, 269, 270], - [121, 0, 61],[121, 269, 270], - [122, 0, 63],[122, 268, 270], - [123, 0, 66],[123, 268, 270], - [124, 0, 69],[124, 268, 270], - [125, 0, 69],[125, 267, 270], - [126, 0, 71],[126, 267, 270], - [127, 0, 72],[127, 267, 270], + [104, 0, 44],[104, 269, 360], + [105, 0, 44],[105, 269, 360], + [106, 0, 44],[106, 269, 360], + [107, 0, 44],[107, 269, 360], + [108, 0, 46],[108, 269, 360], + [109, 0, 47],[109, 269, 360], + [110, 0, 48],[110, 87.78, 89.97],[110, 269, 360], + [111, 0, 49],[111, 269, 360], + [112, 0, 50],[112, 269, 360], + [113, 0, 52],[113, 269, 360], + [114, 0, 53],[114, 269, 360], + [115, 0, 54],[115, 269, 360], + [116, 0, 55],[116, 269, 360], + [117, 0, 56],[117, 269, 360], + [118, 0, 57],[118, 269, 360], + [119, 0, 58],[119, 269, 360], + [120, 0, 59],[120, 269, 360], + [121, 0, 61],[121, 269, 360], + [122, 0, 63],[122, 268, 360], + [123, 0, 66],[123, 268, 360], + [124, 0, 69],[124, 268, 360], + [125, 0, 69],[125, 267, 360], + [126, 0, 71],[126, 267, 360], + [127, 0, 72],[127, 267, 360], [0, 0, 360], [3, 0, 360], [6, 0, 360], From d64dfd3495376a2dc8e4eb6cb66044ae6bca6b29 Mon Sep 17 00:00:00 2001 From: kotaro-hihara Date: Thu, 24 Oct 2024 13:44:49 +0900 Subject: [PATCH 19/20] update config of OT128(**_upper) to use one third --- aip_x2_gen2_launch/launch/lidar.launch.xml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/aip_x2_gen2_launch/launch/lidar.launch.xml b/aip_x2_gen2_launch/launch/lidar.launch.xml index 17ae4930..512c84f7 100644 --- a/aip_x2_gen2_launch/launch/lidar.launch.xml +++ b/aip_x2_gen2_launch/launch/lidar.launch.xml @@ -55,7 +55,7 @@ - + @@ -89,7 +89,7 @@ - + @@ -192,7 +192,7 @@ - + @@ -226,7 +226,7 @@ - + From b8cbe72f1e2165ae49764a87eb5d13c35fe4e845 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Thu, 24 Oct 2024 04:45:58 +0000 Subject: [PATCH 20/20] ci(pre-commit): autofix --- .../left_upper/point_filters_full.param.yaml | 2 +- .../rear_upper/point_filters_full.param.yaml | 4 ++-- .../rear_upper/point_filters_one_third.param.yaml | 4 ++-- .../rear_upper/point_filters_two_third.param.yaml | 4 ++-- .../right_upper/point_filters_full.param.yaml | 8 ++++---- .../right_upper/point_filters_one_third.param.yaml | 4 ++-- .../right_upper/point_filters_two_third.param.yaml | 4 ++-- 7 files changed, 15 insertions(+), 15 deletions(-) diff --git a/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_full.param.yaml b/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_full.param.yaml index ecbfbd70..366958ed 100644 --- a/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_full.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_full.param.yaml @@ -69,4 +69,4 @@ [126, 90, 91],[126, 292.12, 360], [127, 90, 91],[127, 289.71, 360] ] - } \ No newline at end of file + } diff --git a/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_full.param.yaml b/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_full.param.yaml index f0613fe7..adcd8182 100644 --- a/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_full.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_full.param.yaml @@ -80,10 +80,10 @@ [96, 60,102],[96, 267,300], [97, 60,102],[97, 267,300], [98, 60,95], - [99, 60,95], + [99, 60,95], [100, 60,95], [101, 60,95], - [102, 60,95], + [102, 60,95], [103, 60,99], [104, 60,97], [105, 60,97], diff --git a/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_one_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_one_third.param.yaml index d0cada74..550c33a9 100644 --- a/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_one_third.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_one_third.param.yaml @@ -80,10 +80,10 @@ [96, 60,102],[96, 267,300], [97, 60,102],[97, 267,300], [98, 60,95], - [99, 60,95], + [99, 60,95], [100, 60,95], [101, 60,95], - [102, 60,95], + [102, 60,95], [103, 60,99], [104, 60,97], [105, 60,97], diff --git a/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_two_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_two_third.param.yaml index 43075926..e3f7d468 100644 --- a/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_two_third.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_two_third.param.yaml @@ -80,10 +80,10 @@ [96, 60,102],[96, 267,300], [97, 60,102],[97, 267,300], [98, 60,95], - [99, 60,95], + [99, 60,95], [100, 60,95], [101, 60,95], - [102, 60,95], + [102, 60,95], [103, 60,99], [104, 60,97], [105, 60,97], diff --git a/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_full.param.yaml b/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_full.param.yaml index 32eadc16..a0fc854a 100644 --- a/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_full.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_full.param.yaml @@ -87,7 +87,7 @@ [100, 0, 46], [101, 0, 46], [102, 0, 46], - [103, 0, 44], + [103, 0, 44], [104, 0, 44],[104, 269, 360], [105, 0, 44],[105, 269, 360], [106, 0, 44],[106, 269, 360], @@ -110,7 +110,7 @@ [123, 0, 66],[123, 268, 360], [124, 0, 69],[124, 268, 360], [125, 0, 69],[125, 267, 360], - [126, 0, 71],[126, 267, 360], - [127, 0, 72],[127, 267, 360] + [126, 0, 71],[126, 267, 360], + [127, 0, 72],[127, 267, 360] ] - } \ No newline at end of file + } diff --git a/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_one_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_one_third.param.yaml index d3f2c327..35f6a53f 100644 --- a/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_one_third.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_one_third.param.yaml @@ -87,7 +87,7 @@ [100, 0, 46], [101, 0, 46], [102, 0, 46], - [103, 0, 44], + [103, 0, 44], [104, 0, 44],[104, 269, 360], [105, 0, 44],[105, 269, 360], [106, 0, 44],[106, 269, 360], @@ -110,7 +110,7 @@ [123, 0, 66],[123, 268, 360], [124, 0, 69],[124, 268, 360], [125, 0, 69],[125, 267, 360], - [126, 0, 71],[126, 267, 360], + [126, 0, 71],[126, 267, 360], [127, 0, 72],[127, 267, 360], [1, 0, 360], [2, 0, 360], diff --git a/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_two_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_two_third.param.yaml index c5f34ead..b1de13ab 100644 --- a/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_two_third.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_two_third.param.yaml @@ -87,7 +87,7 @@ [100, 0, 46], [101, 0, 46], [102, 0, 46], - [103, 0, 44], + [103, 0, 44], [104, 0, 44],[104, 269, 360], [105, 0, 44],[105, 269, 360], [106, 0, 44],[106, 269, 360], @@ -110,7 +110,7 @@ [123, 0, 66],[123, 268, 360], [124, 0, 69],[124, 268, 360], [125, 0, 69],[125, 267, 360], - [126, 0, 71],[126, 267, 360], + [126, 0, 71],[126, 267, 360], [127, 0, 72],[127, 267, 360], [0, 0, 360], [3, 0, 360],