From cb8c186c249b2bb4abdcc042c96f918b8f18513c Mon Sep 17 00:00:00 2001
From: kotaro-hihara <kotaro.hihara@tier4.jp>
Date: Fri, 13 Dec 2024 14:43:11 +0900
Subject: [PATCH] fix lidar distance range

---
 aip_x2_gen2_launch/launch/hesai_OT128.launch.xml |  7 +++++--
 aip_x2_gen2_launch/launch/hesai_QT128.launch.xml |  8 +++++---
 aip_x2_gen2_launch/launch/lidar.launch.xml       | 15 ---------------
 3 files changed, 10 insertions(+), 20 deletions(-)

diff --git a/aip_x2_gen2_launch/launch/hesai_OT128.launch.xml b/aip_x2_gen2_launch/launch/hesai_OT128.launch.xml
index 9d82aff6..4adc9311 100644
--- a/aip_x2_gen2_launch/launch/hesai_OT128.launch.xml
+++ b/aip_x2_gen2_launch/launch/hesai_OT128.launch.xml
@@ -19,8 +19,9 @@
   <arg name="vehicle_mirror_param_file"/>
   <arg name="container_name" default="hesai_node_container"/>
   <arg name="setup_sensor" default="true"/>
-
-  <arg name="distance_range" default="[0.5, 200.0]"/>
+  <arg name="min_range" default="0.3"/>
+  <arg name="max_range" default="230.0"/>
+  <arg name="distance_range" default="[0.3, 230.0]"/>
   <arg name="blockage_range" default="[90.0, 270.0]"/>
   <arg name="vertical_bins" default ="128" />
   <arg name="horizontal_ring_id" default="12" />
@@ -57,6 +58,8 @@
     <arg name="container_name" value="$(var container_name)"/>
     <arg name="setup_sensor" value="$(var setup_sensor)"/>
 
+    <arg name="min_range" value="$(var min_range)"/>
+    <arg name="max_range" value="$(var max_range)"/>
     <arg name="distance_range" value="$(var distance_range)"/>
     <arg name="blockage_range" value="$(var blockage_range)"/>
     <arg name="vertical_bins" value ="$(var vertical_bins)"/>
diff --git a/aip_x2_gen2_launch/launch/hesai_QT128.launch.xml b/aip_x2_gen2_launch/launch/hesai_QT128.launch.xml
index 07bdfbe7..443294ba 100644
--- a/aip_x2_gen2_launch/launch/hesai_QT128.launch.xml
+++ b/aip_x2_gen2_launch/launch/hesai_QT128.launch.xml
@@ -20,8 +20,9 @@
   <arg name="ptp_domain" default="0"/>
   <arg name="vehicle_mirror_param_file"/>
   <arg name="container_name" default="hesai_node_container"/>
-
-  <arg name="distance_range" default="[0.5, 200.0]"/>
+  <arg name="min_range" default="0.05"/>
+  <arg name="max_range" default="50.0"/>
+  <arg name="distance_range" default="[0.05, 50.0]"/>
   <arg name="blockage_range" default="[90.0, 270.0]"/>
   <arg name="vertical_bins" default ="128" />
   <arg name="horizontal_ring_id" default="12" />
@@ -56,7 +57,8 @@
     <arg name="use_intra_process" value="true"/>
     <arg name="use_multithread" value="true"/>
     <arg name="container_name" value="$(var container_name)"/>
-
+    <arg name="min_range" value="$(var min_range)"/>
+    <arg name="max_range" value="$(var max_range)"/>
     <arg name="distance_range" value="$(var distance_range)"/>
     <arg name="blockage_range" value="$(var blockage_range)"/>
     <arg name="vertical_bins" value ="$(var vertical_bins)"/>
diff --git a/aip_x2_gen2_launch/launch/lidar.launch.xml b/aip_x2_gen2_launch/launch/lidar.launch.xml
index 18618abe..6065d9fd 100644
--- a/aip_x2_gen2_launch/launch/lidar.launch.xml
+++ b/aip_x2_gen2_launch/launch/lidar.launch.xml
@@ -46,7 +46,6 @@
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <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]"/>
         <arg name="vertical_bins" value ="128" />
         <arg name="horizontal_ring_id" value="40" />
@@ -79,8 +78,6 @@
         <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="$(var pointcloud_container_name)"/>
-
-        <arg name="distance_range" value="[0.5, 200.0]"/>
         <arg name="blockage_range" value="[90.0, 270.0]"/>
         <arg name="vertical_bins" value ="128" />
         <arg name="horizontal_ring_id" value="40" />
@@ -113,8 +110,6 @@
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
-
-        <arg name="distance_range" value="[0.5, 200.0]"/>
         <arg name="blockage_range" value="[90.0, 270.0]"/>
         <arg name="vertical_bins" value ="128" />
         <arg name="horizontal_ring_id" value="118" />
@@ -147,8 +142,6 @@
         <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="$(var pointcloud_container_name)"/>
-
-        <arg name="distance_range" value="[0.5, 200.0]"/>
         <arg name="blockage_range" value="[90.0, 270.0]"/>
         <arg name="vertical_bins" value ="128" />
         <arg name="horizontal_ring_id" value="118" />
@@ -182,8 +175,6 @@
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
-
-        <arg name="distance_range" value="[0.5, 200.0]"/>
         <arg name="blockage_range" value="[90.0, 270.0]"/>
         <arg name="vertical_bins" value ="128" />
         <arg name="horizontal_ring_id" value="40" />
@@ -216,8 +207,6 @@
         <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="$(var pointcloud_container_name)"/>
-
-        <arg name="distance_range" value="[0.5, 200.0]"/>
         <arg name="blockage_range" value="[90.0, 270.0]"/>
         <arg name="vertical_bins" value ="128" />
         <arg name="horizontal_ring_id" value="40" />
@@ -250,8 +239,6 @@
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
-
-        <arg name="distance_range" value="[0.5, 200.0]"/>
         <arg name="blockage_range" value="[90.0, 270.0]"/>
         <arg name="vertical_bins" value ="128" />
         <arg name="horizontal_ring_id" value="118" />
@@ -284,8 +271,6 @@
         <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="$(var pointcloud_container_name)"/>
-
-        <arg name="distance_range" value="[0.5, 200.0]"/>
         <arg name="blockage_range" value="[90.0, 270.0]"/>
         <arg name="vertical_bins" value ="128" />
         <arg name="horizontal_ring_id" value="118" />