From 61043354be6e540d97b7356656bf49955cb6e304 Mon Sep 17 00:00:00 2001
From: Tomohito ANDO <tomohito.ando@tier4.jp>
Date: Tue, 8 Oct 2024 22:36:12 +0900
Subject: [PATCH] fix: make sync angle and cutting angle same as gen1 (#323)

* chore: change sync angle to be forward

Signed-off-by: Tomohito ANDO <tomohito.ando@tier4.jp>

* change cut_angle of rear LiDAR

Signed-off-by: Tomohito ANDO <tomohito.ando@tier4.jp>

---------

Signed-off-by: Tomohito ANDO <tomohito.ando@tier4.jp>
---
 aip_x2_gen2_launch/launch/lidar.launch.xml | 20 ++++++++++----------
 1 file changed, 10 insertions(+), 10 deletions(-)

diff --git a/aip_x2_gen2_launch/launch/lidar.launch.xml b/aip_x2_gen2_launch/launch/lidar.launch.xml
index 6655c3d8..8f1c219a 100644
--- a/aip_x2_gen2_launch/launch/lidar.launch.xml
+++ b/aip_x2_gen2_launch/launch/lidar.launch.xml
@@ -33,8 +33,8 @@
         <arg name="sensor_ip" value="192.168.1.202"/>
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2321"/>
-        <arg name="sync_angle" value="90"/>
-        <arg name="cut_angle" value="274.0" />
+        <arg name="sync_angle" value="0"/>
+        <arg name="cut_angle" value="180.0" />
         <arg name="cloud_min_angle" value="88"/>
         <arg name="cloud_max_angle" value="274"/>
         <arg name="return_mode" value="LastStrongest"/>
@@ -66,7 +66,7 @@
         <arg name="sensor_ip" value="192.168.1.203"/>
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2322"/>
-        <arg name="sync_angle" value="0"/>
+        <arg name="sync_angle" value="270"/>
         <arg name="cut_angle" value="0.0" />
         <arg name="cloud_min_angle" value="90"/>
         <arg name="cloud_max_angle" value="0"/>
@@ -99,8 +99,8 @@
         <arg name="sensor_ip" value="192.168.1.212"/>
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2376"/>
-        <arg name="sync_angle" value="90"/>
-        <arg name="cut_angle" value="270.0" />
+        <arg name="sync_angle" value="0"/>
+        <arg name="cut_angle" value="180.0" />
         <arg name="cloud_min_angle" value="90"/>
         <arg name="cloud_max_angle" value="270"/>
         <arg name="return_mode" value="LastStrongest"/>
@@ -132,7 +132,7 @@
         <arg name="sensor_ip" value="192.168.1.213"/>
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2377"/>
-        <arg name="sync_angle" value="0"/>
+        <arg name="sync_angle" value="270"/>
         <arg name="cut_angle" value="270.0" />
         <arg name="cloud_min_angle" value="90"/>
         <arg name="cloud_max_angle" value="270"/>
@@ -166,7 +166,7 @@
         <arg name="sensor_ip" value="192.168.1.204"/>
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2323"/>
-        <arg name="sync_angle" value="270"/>
+        <arg name="sync_angle" value="180"/>
         <arg name="cut_angle" value="277.0" />
         <arg name="cloud_min_angle" value="97"/>
         <arg name="cloud_max_angle" value="277"/>
@@ -199,7 +199,7 @@
         <arg name="sensor_ip" value="192.168.1.205"/>
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2324"/>
-        <arg name="sync_angle" value="180"/>
+        <arg name="sync_angle" value="90"/>
         <arg name="cut_angle" value="270.0" />
         <arg name="cloud_min_angle" value="0"/>
         <arg name="cloud_max_angle" value="270"/>
@@ -232,7 +232,7 @@
         <arg name="sensor_ip" value="192.168.1.214"/>
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2378"/>
-        <arg name="sync_angle" value="270"/>
+        <arg name="sync_angle" value="180"/>
         <arg name="cut_angle" value="270.0" />
         <arg name="cloud_min_angle" value="90"/>
         <arg name="cloud_max_angle" value="270"/>
@@ -265,7 +265,7 @@
         <arg name="sensor_ip" value="192.168.1.215"/>
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2379"/>
-        <arg name="sync_angle" value="180"/>
+        <arg name="sync_angle" value="90"/>
         <arg name="cut_angle" value="270.0" />
         <arg name="cloud_min_angle" value="90"/>
         <arg name="cloud_max_angle" value="270"/>