chore: sync main for add-XT32-model branch

aip_x1_launch/config/gnss_poser.param.yaml

@@ -0,0 +1,8 @@
+/**:
+  ros__parameters:
+    base_frame: base_link
+    gnss_base_frame: gnss_link
+    map_frame: map
+    buff_epoch: 1
+    use_gnss_ins_orientation: false
+    gnss_pose_pub_method: 0         # 0: Median, 1: Average

aip_x1_launch/launch/gnss.launch.xml

@@ -1,10 +1,9 @@
 <launch>
 
-  <arg name="use_gnss" default="false" />
   <arg name="launch_driver" default="true" />
 
-  <group if="$(var use_gnss)">
-    <push-ros-namespace namespace="gnss"/>
+  <group>
+    <push-ros-namespace namespace="gnss" />
 
     <!-- Ublox Driver -->
     <node pkg="ublox_gps" name="ublox" exec="ublox_gps_node" if="$(var launch_driver)" respawn="true" respawn_delay="1.0">
@@ -14,14 +13,13 @@
 
     <!-- NavSatFix to MGRS Pose -->
     <include file="$(find-pkg-share gnss_poser)/launch/gnss_poser.launch.xml">
+      <arg name="param_file" value="$(find-pkg-share aip_x1_launch)/config/gnss_poser.param.yaml" />
       <arg name="input_topic_fix" value="ublox/nav_sat_fix" />
-      <arg name="input_topic_navpvt" value="ublox/navpvt" />
-
+      <!-- Required if use_gnss_ins_orientation in gnss_poser.param.yaml is true -->
+      <!-- <arg name="input_topic_orientation" value="" /> -->
       <arg name="output_topic_gnss_pose" value="pose" />
       <arg name="output_topic_gnss_pose_cov" value="pose_with_covariance" />
       <arg name="output_topic_gnss_fixed" value="fixed" />
-
-      <arg name="use_ublox_receiver" value="true" />
     </include>
 
   </group>

aip_x1_launch/launch/lidar.launch.xml

@@ -7,6 +7,7 @@
   <arg name="vehicle_id" default="$(env VEHICLE_ID default)" />
   <arg name="vehicle_mirror_param_file" />
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
+  <arg name="enable_blockage_diag" default="false"/>
 
   <group>
     <push-ros-namespace namespace="lidar"/>
@@ -22,6 +23,7 @@
         <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="pointcloud_container"/>
+        <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
       </include>
     </group>
 
@@ -41,6 +43,7 @@
         <arg name="config_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x1/xt32.csv" />
         <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="pointcloud_container"/>
       </include>
     </group>
 

aip_x1_launch/launch/pointcloud_preprocessor.launch.py

@@ -36,12 +36,17 @@ def launch_setup(context, *args, **kwargs):
         parameters=[
             {
                 "input_topics": [
-                    "/sensing/lidar/top/pointcloud",
-                    "/sensing/lidar/front_center/pointcloud",
+                    "/sensing/lidar/top/pointcloud_before_sync",
+                    "/sensing/lidar/front_center/pointcloud_before_sync",
                 ],
                 "output_frame": LaunchConfiguration("base_frame"),
-                "timeout_sec": 1.0,
+                "input_offset": [
+                    0.055,
+                    0.025,
+                ],
+                "timeout_sec": 0.095,
                 "input_twist_topic_type": "twist",
+                "publish_synchronized_pointcloud": True,
             }
         ],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
@@ -66,7 +71,7 @@ def add_launch_arg(name: str, default_value=None):
     add_launch_arg("base_frame", "base_link")
     add_launch_arg("use_multithread", "False")
     add_launch_arg("use_intra_process", "False")
-    add_launch_arg("container_name", "pointcloud_preprocessor_container")
+    add_launch_arg("pointcloud_container_name", "pointcloud_container")
 
     set_container_executable = SetLaunchConfiguration(
         "container_executable",

aip_x1_launch/launch/sensing.launch.xml

@@ -4,15 +4,14 @@
   <arg name="vehicle_mirror_param_file" description="path to the file of vehicle mirror position yaml"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name ="vehicle_id" default="$(env VEHICLE_ID default)" />
-  <arg name="use_awsim" default="false"/>
+  <arg name="use_gnss" default="false"/>
 
   <group>
     <!-- LiDAR Driver -->
     <include file="$(find-pkg-share aip_x1_launch)/launch/lidar.launch.xml">
       <arg name="launch_driver" value="$(var launch_driver)" />
       <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
-      <arg name="use_awsim" value="$(var use_awsim)"/>
     </include>
 
     <!-- IMU Driver -->
@@ -21,7 +20,7 @@
     </include>
 
     <!-- GNSS Driver -->
-    <include file="$(find-pkg-share aip_x1_launch)/launch/gnss.launch.xml" unless="$(var use_awsim)">
+    <include file="$(find-pkg-share aip_x1_launch)/launch/gnss.launch.xml" if="$(var use_gnss)" >
       <arg name="launch_driver" value="$(var launch_driver)" />
     </include>
 

aip_x1_launch/package.xml

@@ -10,14 +10,14 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
+  <exec_depend>autoware_compare_map_segmentation</exec_depend>
+  <exec_depend>autoware_elevation_map_loader</exec_depend>
+  <exec_depend>autoware_ground_segmentation</exec_depend>
+  <exec_depend>autoware_occupancy_grid_map_outlier_filter</exec_depend>
+  <exec_depend>autoware_pointcloud_preprocessor</exec_depend>
   <exec_depend>common_sensor_launch</exec_depend>
-  <exec_depend>compare_map_segmentation</exec_depend>
-  <exec_depend>elevation_map_loader</exec_depend>
-  <exec_depend>ground_segmentation</exec_depend>
   <exec_depend>imu_corrector</exec_depend>
   <exec_depend>individual_params</exec_depend>
-  <exec_depend>occupancy_grid_map_outlier_filter</exec_depend>
-  <exec_depend>pointcloud_preprocessor</exec_depend>
   <exec_depend>rclcpp_components</exec_depend>
   <exec_depend>ros2_socketcan</exec_depend>
   <exec_depend>tamagawa_imu_driver</exec_depend>

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