From 7a31c4b82553c8f2cfc8dd4124fe7d935a66a72d Mon Sep 17 00:00:00 2001
From: kotaro-hihara <kotaro.hihara@tier4.jp>
Date: Wed, 7 Aug 2024 11:34:00 +0900
Subject: [PATCH] chore(aip_x2): set param for visibility diag (#279)

set param for visibility diag
---
 aip_x2_launch/config/dual_return_filter.param.yaml   | 8 +++++---
 aip_x2_launch/launch/lidar.launch.xml                | 4 ++--
 aip_x2_launch/launch/nebula_node_container.launch.py | 1 +
 3 files changed, 8 insertions(+), 5 deletions(-)

diff --git a/aip_x2_launch/config/dual_return_filter.param.yaml b/aip_x2_launch/config/dual_return_filter.param.yaml
index 5b1f1adb..3c89faa2 100644
--- a/aip_x2_launch/config/dual_return_filter.param.yaml
+++ b/aip_x2_launch/config/dual_return_filter.param.yaml
@@ -2,9 +2,11 @@
   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: 0.5
-    visibility_warn_threshold: 0.9
-    max_distance: 5.0
+    visibility_error_threshold: 0.95
+    visibility_warn_threshold: 0.97
+    min_azimuth_deg: 100.0
+    max_azimuth_deg: 260.0
+    max_distance: 10.0
     x_max: 18.0
     x_min: -12.0
     y_max: 2.0
diff --git a/aip_x2_launch/launch/lidar.launch.xml b/aip_x2_launch/launch/lidar.launch.xml
index 02ab6772..062fca3d 100644
--- a/aip_x2_launch/launch/lidar.launch.xml
+++ b/aip_x2_launch/launch/lidar.launch.xml
@@ -155,7 +155,7 @@
         <arg name="blockage_range" value="[55.0, 270.0]"/>
         <arg name="vertical_bins" value ="40" />
         <arg name="horizontal_ring_id" value="12" />
-        <arg name="return_mode" value="Dual" />
+        <arg name="return_mode" value="Strongest" />
         <arg name="ptp_profile" value="1588v2"/>
         <arg name="ptp_transport_type" value="UDP"/>
         <arg name="ptp_switch_type" value="NON_TSN"/>
@@ -219,7 +219,7 @@
         <arg name="blockage_range" value="[90.0, 270.0]"/>
         <arg name="vertical_bins" value ="40" />
         <arg name="horizontal_ring_id" value="12" />
-        <arg name="return_mode" value="Dual" />
+        <arg name="return_mode" value="Strongest" />
         <arg name="ptp_profile" value="1588v2"/>
         <arg name="ptp_transport_type" value="UDP"/>
         <arg name="ptp_switch_type" value="NON_TSN"/>
diff --git a/aip_x2_launch/launch/nebula_node_container.launch.py b/aip_x2_launch/launch/nebula_node_container.launch.py
index 86516336..d85b83c3 100644
--- a/aip_x2_launch/launch/nebula_node_container.launch.py
+++ b/aip_x2_launch/launch/nebula_node_container.launch.py
@@ -440,6 +440,7 @@ def add_launch_arg(name: str, default_value=None, description=None):
     add_launch_arg("min_azimuth_deg", "135.0")
     add_launch_arg("max_azimuth_deg", "225.0")
     add_launch_arg("output_as_sensor_frame", "True")
+    add_launch_arg("dual_return_filter_param_file")
 
     set_container_executable = SetLaunchConfiguration(
         "container_executable",