[DO NOT MERGE] x1/bench ecu setup branch diff check

aip_x1_description/urdf/sensor_kit.xacro

@@ -66,5 +66,31 @@
       yaw="${calibration['sensor_kit_base_link']['tamagawa/imu_link']['yaw']}"
       fps="100"
     />
+    <!-- gnss -->
+    <xacro:imu_macro
+      name="gnss"
+      parent="sensor_kit_base_link"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['gnss_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['gnss_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['gnss_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['gnss_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['gnss_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['gnss_link']['yaw']}"
+      fps="100"
+    />
+    <!-- imu -->
+    <xacro:imu_macro
+      name="tamagawa/imu"
+      parent="sensor_kit_base_link"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['tamagawa/imu_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['tamagawa/imu_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['tamagawa/imu_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['tamagawa/imu_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['tamagawa/imu_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['tamagawa/imu_link']['yaw']}"
+      fps="100"
+    />
   </xacro:macro>
 </robot>

aip_x1_launch/config/dummy_diag_publisher/sensor_kit.param.yaml

@@ -12,14 +12,6 @@
 /**:
   ros__parameters:
     required_diags:
-      # sensing
-      sensing_topic_status: default
-
-      # pandar
-      pandar_connection: default
-      pandar_temperature: default
-      pandar_ptp: default
-
       # gnss
       gnss_connection: default
       gnss_data: default
@@ -29,7 +21,11 @@
       gnss_jamming: default
       fix topic status: default
 
-      sensing_topic_status: default
+      # pandar
+      pandar_connection: default
+      pandar_temperature: default
+      pandar_ptp: default
+
 
       # imu
       gyro_bias_estimator: default

aip_x1_launch/launch/imu.launch.xml

@@ -3,7 +3,7 @@
     <push-ros-namespace namespace="imu"/>
 
     <arg name="launch_driver" default="true" />
-    <arg name="interface" default="canIMU"/>
+    <arg name="interface" default="canVehicle"/>
     <arg name="receiver_interval_sec" default="0.01"/>
     <arg name ="vehicle_id" default="$(env VEHICLE_ID default)" />
 

aip_x1_launch/launch/lidar.launch.xml

@@ -1,7 +1,7 @@
 <launch>
 
   <arg name="launch_driver" default="true" />
-  <arg name="host_ip" default="127.0.0.1"/>
+  <arg name="host_ip" default="192.168.1.100"/>
   <arg name="use_concat_filter" default="true" />
   <arg name="vehicle_id" default="$(env VEHICLE_ID default)" />
   <arg name="vehicle_mirror_param_file" />
@@ -15,7 +15,7 @@
       <push-ros-namespace namespace="top" />
       <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launch.xml">
         <arg name="sensor_frame" value="pandar_xt32_top" />
-        <arg name="sensor_ip" value="192.168.1.20" />
+        <arg name="sensor_ip" value="192.168.1.201" />
         <arg name="data_port" value="2368" />
         <arg name="gnss_port" value="10121" />
         <arg name="scan_phase" value="180.0" />
@@ -34,8 +34,8 @@
       <push-ros-namespace namespace="front_center" />
       <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launch.xml">
         <arg name="sensor_frame" value="pandar_xt32_front_center" />
-        <arg name="sensor_ip" value="192.168.3.201" />
-        <arg name="data_port" value="2321" />
+        <arg name="sensor_ip" value="192.168.1.202" />
+        <arg name="data_port" value="2369" />
         <arg name="gnss_port" value="10121" />
         <arg name="scan_phase" value="0.0" />
         <arg name="cloud_min_angle" value="0"/>

aip_x2_launch/config/dummy_diag_publisher/sensor_kit.param.yaml

@@ -21,7 +21,7 @@
       pandar_ptp: default
       "left_upper: visibility_validation": default
       blockage_validation: default
-      concat_status: default
+      "concatenate_data: concat_status": default
 
       sensing_topic_status: default