fix: remove duplicated parameter (#312)

* remove duplicated parameter * use pointcloud container var
tier4 · Sep 13, 2024 · 9688161 · 9688161
1 parent 0a997b0
commit 9688161
Showing 1 changed file with 5 additions and 13 deletions.
diff --git a/aip_x2_gen2_launch/launch/lidar.launch.xml b/aip_x2_gen2_launch/launch/lidar.launch.xml
@@ -21,7 +21,7 @@
       <arg name="use_intra_process" value="true" />
       <arg name="use_multithread" value="true" />
       <arg name="use_pointcloud_container" value="true"/>
-      <arg name="pointcloud_container_name" value="pointcloud_container"/>
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </include>
 
     <!-- LiDARs connected to Main ECU -->
@@ -44,7 +44,7 @@
         <arg name="ptp_domain" value="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="container_name" value="$(var pointcloud_container_name)"/>
 
         <arg name="distance_range" value="[0.5, 200.0]"/>
         <arg name="blockage_range" value="[90.0, 270.0]"/>
@@ -55,7 +55,6 @@
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="calibration" value="$(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="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
       </include>
     </group>
 
@@ -78,7 +77,7 @@
         <arg name="ptp_domain" value="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="container_name" value="$(var pointcloud_container_name)"/>
 
         <arg name="distance_range" value="[0.5, 200.0]"/>
         <arg name="blockage_range" value="[90.0, 270.0]"/>
@@ -89,7 +88,6 @@
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="calibration" value="$(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="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
       </include>
     </group>
 
@@ -112,7 +110,7 @@
         <arg name="ptp_domain" value="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="container_name" value="$(var pointcloud_container_name)"/>
 
         <arg name="distance_range" value="[0.5, 200.0]"/>
         <arg name="blockage_range" value="[90.0, 270.0]"/>
@@ -123,7 +121,6 @@
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="calibration" value="$(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="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
       </include>
     </group>
 
@@ -146,7 +143,7 @@
         <arg name="ptp_domain" value="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="container_name" value="$(var pointcloud_container_name)"/>
 
         <arg name="distance_range" value="[0.5, 200.0]"/>
         <arg name="blockage_range" value="[90.0, 270.0]"/>
@@ -157,7 +154,6 @@
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="calibration" value="$(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="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
       </include>
     </group>
 
@@ -192,7 +188,6 @@
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="calibration" value="$(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="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
       </include>
     </group>
 
@@ -226,7 +221,6 @@
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="calibration" value="$(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="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
       </include>
     </group>
 
@@ -260,7 +254,6 @@
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="calibration" value="$(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="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
       </include>
     </group>
 
@@ -294,7 +287,6 @@
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="calibration" value="$(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="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
       </include>
     </group>