From 80c00e503339beb11067c2674efa6c832e5e081c Mon Sep 17 00:00:00 2001
From: Shinnosuke Hirakawa <shinnosuke.hirakawa@tier4.jp>
Date: Wed, 17 Apr 2024 22:32:13 +0900
Subject: [PATCH 1/2] chore: tune blockage diag

---
 aip_x2_launch/launch/lidar.launch.xml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/aip_x2_launch/launch/lidar.launch.xml b/aip_x2_launch/launch/lidar.launch.xml
index ba75c4c8..9864143f 100644
--- a/aip_x2_launch/launch/lidar.launch.xml
+++ b/aip_x2_launch/launch/lidar.launch.xml
@@ -102,7 +102,7 @@
         <arg name="distance_range" value="[0.1, 20.0]"/>
         <arg name="blockage_range" value="[120.0, 240.0]"/>
         <arg name="vertical_bins" value ="64" />
-        <arg name="horizontal_ring_id" value="8" />
+        <arg name="horizontal_ring_id" value="24" />
         <arg name="is_channel_order_top2down" value="false"/>
         <arg name="horizontal_resolution" value="0.6"/>
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
@@ -127,7 +127,7 @@
         <arg name="distance_range" value="[0.5, 200.0]"/>
         <arg name="blockage_range" value="[55.0, 270.0]"/>
         <arg name="vertical_bins" value ="40" />
-        <arg name="horizontal_ring_id" value="12" />
+        <arg name="horizontal_ring_id" value="24" />
         <arg name="min_azimuth_deg" value="45.0"/>
         <arg name="max_azimuth_deg" value="135.0"/>
         <arg name="is_channel_order_top2down" value="true"/>
@@ -154,7 +154,7 @@
         <arg name="distance_range" value="[0.1, 20.0]"/>
         <arg name="blockage_range" value="[150.0, 240.0]"/>
         <arg name="vertical_bins" value ="64" />
-        <arg name="horizontal_ring_id" value="8" />
+        <arg name="horizontal_ring_id" value="20" />
         <arg name="is_channel_order_top2down" value="false"/>
         <arg name="horizontal_resolution" value="0.6"/>
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>

From c886ab72bf9103a11244831bea4af84117500da0 Mon Sep 17 00:00:00 2001
From: Shinnosuke Hirakawa <shinnosuke.hirakawa@tier4.jp>
Date: Wed, 17 Apr 2024 22:36:55 +0900
Subject: [PATCH 2/2] fix

---
 aip_x2_launch/launch/lidar.launch.xml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/aip_x2_launch/launch/lidar.launch.xml b/aip_x2_launch/launch/lidar.launch.xml
index 9864143f..971d963b 100644
--- a/aip_x2_launch/launch/lidar.launch.xml
+++ b/aip_x2_launch/launch/lidar.launch.xml
@@ -127,7 +127,7 @@
         <arg name="distance_range" value="[0.5, 200.0]"/>
         <arg name="blockage_range" value="[55.0, 270.0]"/>
         <arg name="vertical_bins" value ="40" />
-        <arg name="horizontal_ring_id" value="24" />
+        <arg name="horizontal_ring_id" value="12" />
         <arg name="min_azimuth_deg" value="45.0"/>
         <arg name="max_azimuth_deg" value="135.0"/>
         <arg name="is_channel_order_top2down" value="true"/>
@@ -154,7 +154,7 @@
         <arg name="distance_range" value="[0.1, 20.0]"/>
         <arg name="blockage_range" value="[150.0, 240.0]"/>
         <arg name="vertical_bins" value ="64" />
-        <arg name="horizontal_ring_id" value="20" />
+        <arg name="horizontal_ring_id" value="24" />
         <arg name="is_channel_order_top2down" value="false"/>
         <arg name="horizontal_resolution" value="0.6"/>
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>