From 6011b97977fc5a987fe740ba14f10a7691db5cf7 Mon Sep 17 00:00:00 2001
From: yoshiri <yoshiyoshidetteiu@gmail.com>
Date: Thu, 27 Feb 2025 17:58:44 +0900
Subject: [PATCH] fix: change qt and ot donsampler

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
---
 aip_x2_gen2_launch/launch/lidar.launch.xml | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/aip_x2_gen2_launch/launch/lidar.launch.xml b/aip_x2_gen2_launch/launch/lidar.launch.xml
index acce6edd..e59cc1e3 100644
--- a/aip_x2_gen2_launch/launch/lidar.launch.xml
+++ b/aip_x2_gen2_launch/launch/lidar.launch.xml
@@ -101,7 +101,7 @@
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="calibration_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/left_upper.csv" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
-        <arg name="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/left_upper/point_filters_one_third.param.yaml" />
+        <arg name="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/left_upper/point_filters_half.param.yaml" />
         <arg name="point_filters.downsample_mask.path" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/left_upper/point_filters_one_third.param.png" />
         <arg name="dual_return_distance_threshold" value="0.1"/>
         <arg name="blockage_diagnostics_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/blockage_diagnostics_param_file.yaml" />
@@ -144,7 +144,7 @@
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="calibration_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/rear_lower.csv" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
-        <arg name="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/rear_lower/point_filters_full.param.yaml" />
+        <arg name="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/rear_lower/point_filters_one_fifth.param.yaml" />
         <arg name="point_filters.downsample_mask.path" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/rear_lower/point_filters_full.param.png" />
         <arg name="dual_return_distance_threshold" value="0.1"/>
         <arg name="blockage_diagnostics_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/blockage_diagnostics_param_file.yaml" />
@@ -187,7 +187,7 @@
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="calibration_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/left_lower.csv" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
-        <arg name="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/left_lower/point_filters_full.param.yaml" />
+        <arg name="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/left_lower/point_filters_one_fifth.param.yaml" />
         <arg name="point_filters.downsample_mask.path" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/left_lower/point_filters_full.param.png" />
         <arg name="dual_return_distance_threshold" value="0.1"/>
         <arg name="blockage_diagnostics_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/blockage_diagnostics_param_file.yaml" />
@@ -274,7 +274,7 @@
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="calibration_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/right_upper.csv" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
-        <arg name="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/right_upper/point_filters_one_third.param.yaml" />
+        <arg name="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/right_upper/point_filters_half.param.yaml" />
         <arg name="point_filters.downsample_mask.path" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/right_upper/point_filters_one_third.param.png" />
         <arg name="dual_return_distance_threshold" value="0.1"/>
         <arg name="blockage_diagnostics_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/blockage_diagnostics_param_file.yaml" />
@@ -317,7 +317,7 @@
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="calibration_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/front_lower.csv" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
-        <arg name="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/front_lower/point_filters_full.param.yaml" />
+        <arg name="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/front_lower/point_filters_one_fifth.param.yaml" />
         <arg name="point_filters.downsample_mask.path" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/front_lower/point_filters_full.param.png" />
         <arg name="dual_return_distance_threshold" value="0.1"/>
         <arg name="blockage_diagnostics_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/blockage_diagnostics_param_file.yaml" />
@@ -360,7 +360,7 @@
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="calibration_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/right_lower.csv" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
-        <arg name="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/right_lower/point_filters_full.param.yaml" />
+        <arg name="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/right_lower/point_filters_one_fifth.param.yaml" />
         <arg name="point_filters.downsample_mask.path" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/right_lower/point_filters_full.param.png" />
         <arg name="dual_return_distance_threshold" value="0.1"/>
         <arg name="blockage_diagnostics_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/blockage_diagnostics_param_file.yaml" />