From d175f43638ff71f379238e8a656e67b5af43294c Mon Sep 17 00:00:00 2001
From: Satoshi Tanaka <16330533+scepter914@users.noreply.github.com>
Date: Wed, 25 Oct 2023 22:58:32 +0900
Subject: [PATCH] fix(aip_launcher_x2): use only front radar for radar faraway
 detection (#179)

* fix(aip_launcher_x2): use only front radar for radar faraway detection

Signed-off-by: scepter914 <scepter914@gmail.com>

* ci(pre-commit): autofix

---------

Signed-off-by: scepter914 <scepter914@gmail.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
---
 aip_x2_launch/launch/radar.launch.xml | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/aip_x2_launch/launch/radar.launch.xml b/aip_x2_launch/launch/radar.launch.xml
index 73e36ecf..51818765 100644
--- a/aip_x2_launch/launch/radar.launch.xml
+++ b/aip_x2_launch/launch/radar.launch.xml
@@ -64,7 +64,9 @@
       <arg name="update_rate_hz" value="20.0"/>
       <arg name="new_frame_id" value="base_link"/>
       <arg name="timeout_threshold" value="1.0"/>
-      <arg name="input_topics" value="[/sensing/radar/front_center/detected_objects, /sensing/radar/front_left/detected_objects, /sensing/radar/rear_left/detected_objects, /sensing/radar/rear_center/detected_objects, /sensing/radar/rear_right/detected_objects, /sensing/radar/front_right/detected_objects]"/>
+      <!-- To reduce calculation cost, use only front radar for radar detection -->
+      <!--<arg name="input_topics" value="[/sensing/radar/front_center/detected_objects, /sensing/radar/front_left/detected_objects, /sensing/radar/rear_left/detected_objects, /sensing/radar/rear_center/detected_objects, /sensing/radar/rear_right/detected_objects, /sensing/radar/front_right/detected_objects]"/>-->
+      <arg name="input_topics" value="[/sensing/radar/front_center/detected_objects, /sensing/radar/front_left/detected_objects, /sensing/radar/front_right/detected_objects]"/>
     </include>
 
   </group>