lidar.launch.xml

<launch>

  <arg name="launch_driver" default="true" />
  <arg name="host_ip" default="127.0.0.1"/>
  <arg name="use_concat_filter" default="true" />
  <arg name="vehicle_id" default="$(env VEHICLE_ID default)" />
  <arg name="vehicle_mirror_param_file" />
  <arg name="pointcloud_container_name" default="pointcloud_container"/>
  <arg name="enable_blockage_diag" default="false"/>

  <group>
    <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" />
        <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>

    <group>
      <push-ros-namespace namespace="front_center" />
      <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launch.xml">
        <arg name="sensor_frame" value="pandar_xt32_front_center" />
        <arg name="sensor_ip" value="192.168.3.201" />
        <arg name="data_port" value="2321" />
        <arg name="gnss_port" value="10121" />
        <arg name="scan_phase" value="0.0" />
        <arg name="cloud_min_angle" value="0"/>
        <arg name="cloud_max_angle" value="360"/>
        <arg name="min_range" value="0.05"/>
        <arg name="max_range" value="200.0"/>
        <arg name="return_mode" value="Strongest" />
        <arg name="config_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x1/xt32.csv" />
        <arg name="launch_driver" value="$(var launch_driver)" />
        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
        <arg name="container_name" value="pointcloud_container"/>
      </include>
    </group>

    <include file="$(find-pkg-share aip_x1_launch)/launch/pointcloud_preprocessor.launch.py">
      <arg name="base_frame" value="base_link" />
      <arg name="use_intra_process" value="true" />
      <arg name="use_multithread" value="false" />
      <arg name="container_name" value="$(var pointcloud_container_name)"/>
    </include>

  </group>
</launch>