Merge branch 'tier4/universe' into feat/cuda_acceleration_and_transpo…

…rt_layer Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>
tier4 · Feb 14, 2025 · ad4d6a2 · ad4d6a2
2 parents b1f534a + 6ebfda0
commit ad4d6a2
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diff --git a/aip_x2_gen2_launch/config/dual_return_filter.param.yaml b/aip_x2_gen2_launch/config/dual_return_filter.param.yaml
@@ -1,13 +1,16 @@
 /**:
   ros__parameters:
-    roi_mode: "Fixed_azimuth_ROI" # description="options: `No_ROI`, `Fixed_xyz_ROI` or `Fixed_azimuth_ROI`"/>
-    weak_first_local_noise_threshold: 2 # description="for No_ROI roi_mode, recommended value is 10" />
-    visibility_error_threshold: 0.95
-    visibility_warn_threshold: 0.97
-    max_distance: 10.0
     x_max: 18.0
     x_min: -12.0
     y_max: 2.0
     y_min: -2.0
     z_max: 10.0
     z_min: 0.0
+    max_distance: 10.0
+    max_azimuth_diff: 50.0
+    weak_first_distance_ratio: 1.004
+    general_distance_ratio: 1.03
+    weak_first_local_noise_threshold: 2
+    roi_mode: "Fixed_azimuth_ROI"
+    visibility_error_threshold: 0.92
+    visibility_warn_threshold: 0.95
diff --git a/aip_x2_gen2_launch/launch/hesai_OT128.launch.xml b/aip_x2_gen2_launch/launch/hesai_OT128.launch.xml
diff --git a/aip_x2_gen2_launch/launch/hesai_QT128.launch.xml b/aip_x2_gen2_launch/launch/hesai_QT128.launch.xml