replace vlp16 to xt32

Signed-off-by: Autumn60 <[email protected]>
tier4 · Nov 14, 2024 · 41398ef · 41398ef
1 parent cc02a7b
commit 41398ef
Show file tree

Hide file tree

Showing 5 changed files with 35 additions and 68 deletions.
diff --git a/aip_x1_description/config/sensor_kit_calibration.yaml b/aip_x1_description/config/sensor_kit_calibration.yaml
@@ -1,5 +1,5 @@
 sensor_kit_base_link:
-  velodyne_top_base_link:
+  pandar_xt32_top_base_link:
     x: 0.000
     y: 0.000
     z: 0.000

diff --git a/aip_x1_description/urdf/sensor_kit.xacro b/aip_x1_description/urdf/sensor_kit.xacro
@@ -1,44 +1,36 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
   <xacro:macro name="sensor_kit_macro" params="parent x y z roll pitch yaw">
-    <xacro:include filename="$(find velodyne_description)/urdf/VLP-16.urdf.xacro"/>
-    <xacro:include filename="$(find imu_description)/urdf/imu.xacro"/>
+    <xacro:include filename="$(find pandar_description)/urdf/pandar_xt32.xacro" />
+    <xacro:include filename="$(find imu_description)/urdf/imu.xacro" />
 
-    <xacro:arg name="gpu" default="false"/>
-    <xacro:arg name="config_dir" default="$(find aip_x1_description)/config"/>
-    <xacro:property name="sensor_kit_base_link" default="sensor_kit_base_link"/>
+    <xacro:arg name="gpu" default="false" />
+    <xacro:arg name="config_dir" default="$(find aip_x1_description)/config" />
+    <xacro:property name="sensor_kit_base_link" default="sensor_kit_base_link" />
 
     <joint name="${sensor_kit_base_link}_joint" type="fixed">
-      <origin rpy="${roll} ${pitch} ${yaw}" xyz="${x} ${y} ${z}"/>
-      <parent link="${parent}"/>
-      <child link="${sensor_kit_base_link}"/>
+      <origin rpy="${roll} ${pitch} ${yaw}" xyz="${x} ${y} ${z}" />
+      <parent link="${parent}" />
+      <child link="${sensor_kit_base_link}" />
     </joint>
     <link name="${sensor_kit_base_link}">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <origin rpy="0 0 0" xyz="0 0 0" />
     </link>
 
     <!-- sensor -->
-    <xacro:property name="calibration" value="${xacro.load_yaml('$(arg config_dir)/sensor_kit_calibration.yaml')}"/>
+    <xacro:property name="calibration"
+      value="${xacro.load_yaml('$(arg config_dir)/sensor_kit_calibration.yaml')}" />
     <!-- lidar -->
-    <xacro:VLP-16
+    <xacro:PandarXT-32
+      name="pandar_xt32_top"
       parent="sensor_kit_base_link"
-      name="velodyne_top"
-      topic="/points_raw"
-      hz="10"
-      samples="220"
-      gpu="$(arg gpu)"
-    >
-      <origin
-        xyz="${calibration['sensor_kit_base_link']['velodyne_top_base_link']['x']}
-             ${calibration['sensor_kit_base_link']['velodyne_top_base_link']['y']}
-             ${calibration['sensor_kit_base_link']['velodyne_top_base_link']['z']}"
-        rpy="${calibration['sensor_kit_base_link']['velodyne_top_base_link']['roll']}
-             ${calibration['sensor_kit_base_link']['velodyne_top_base_link']['pitch']}
-            ${calibration['sensor_kit_base_link']['velodyne_top_base_link']['yaw']}"
-      />
-    </xacro:VLP-16>
-
-    <xacro:include filename="$(find pandar_description)/urdf/pandar_xt32.xacro"/>
+      x="${calibration['sensor_kit_base_link']['pandar_xt32_top_base_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['pandar_xt32_top_base_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['pandar_xt32_top_base_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['pandar_xt32_top_base_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['pandar_xt32_top_base_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['pandar_xt32_top_base_link']['yaw']}"
+    />
     <xacro:PandarXT-32
       name="pandar_xt32_front_center"
       parent="sensor_kit_base_link"

diff --git a/aip_x1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml b/aip_x1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml
@@ -17,31 +17,6 @@
           type: diagnostic_aggregator/AnalyzerGroup
           path: lidar
           analyzers:
-            velodyne:
-              type: diagnostic_aggregator/AnalyzerGroup
-              path: velodyne
-              analyzers:
-                health_monitoring:
-                  type: diagnostic_aggregator/AnalyzerGroup
-                  path: health_monitoring
-                  analyzers:
-                    connection:
-                      type: diagnostic_aggregator/GenericAnalyzer
-                      path: connection
-                      contains: [": velodyne_connection"]
-                      timeout: 3.0
-
-                    temperature:
-                      type: diagnostic_aggregator/GenericAnalyzer
-                      path: temperature
-                      contains: [": velodyne_temperature"]
-                      timeout: 3.0
-
-                    rpm:
-                      type: diagnostic_aggregator/GenericAnalyzer
-                      path: rpm
-                      contains: [": velodyne_rpm"]
-                      timeout: 3.0
             pandar:
               type: diagnostic_aggregator/AnalyzerGroup
               path: pandar

diff --git a/aip_x1_launch/config/dummy_diag_publisher/sensor_kit.param.yaml b/aip_x1_launch/config/dummy_diag_publisher/sensor_kit.param.yaml
@@ -26,11 +26,6 @@
       pandar_temperature: default
       pandar_ptp: default
 
-      # velodyne
-      velodyne_connection: default
-      velodyne_temperature: default
-      velodyne_rpm: default
-
       sensing_topic_status: default
 
       # imu

diff --git a/aip_x1_launch/launch/lidar.launch.xml b/aip_x1_launch/launch/lidar.launch.xml
@@ -13,17 +13,22 @@
     <push-ros-namespace namespace="lidar"/>
 
     <group>
-      <push-ros-namespace namespace="top"/>
-      <include file="$(find-pkg-share common_sensor_launch)/launch/velodyne_VLP16.launch.xml">
-        <arg name="sensor_frame" value="velodyne_top" />
-        <arg name="device_ip" value="192.168.1.20"/>
-        <arg name="host_ip" value="$(var host_ip)"/>
-        <arg name="data_port" value="2368"/>
-        <arg name="scan_phase" value="180.0" />
+      <push-ros-namespace namespace="top" />
+      <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launch.xml">
+        <arg name="sensor_frame" value="pandar_xt32_top" />
+        <arg name="sensor_ip" value="192.168.3.200" />
+        <arg name="data_port" value="2321" />
+        <arg name="gnss_port" value="10121" />
+        <arg name="scan_phase" value="0.0" />
+        <arg name="cloud_min_angle" value="0"/>
+        <arg name="cloud_max_angle" value="360"/>
+        <arg name="min_range" value="0.05"/>
+        <arg name="max_range" value="200.0"/>
+        <arg name="return_mode" value="Strongest" />
+        <arg name="config_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x1/xt32_top.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
         <arg name="container_name" value="pointcloud_container"/>
-        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
       </include>
     </group>
 
@@ -40,7 +45,7 @@
         <arg name="min_range" value="0.05"/>
         <arg name="max_range" value="200.0"/>
         <arg name="return_mode" value="Strongest" />
-        <arg name="config_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x1/xt32.csv" />
+        <arg name="config_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x1/xt32_front_center.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
         <arg name="container_name" value="pointcloud_container"/>