From 37e6fb100851e9f7c11ae36454a5ac3e9d5b5eb1 Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Thu, 28 Nov 2024 13:54:30 +0900
Subject: [PATCH 1/3] fix: cut angle for left_upper and front_upper

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
 aip_x2_gen2_launch/launch/lidar.launch.xml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/aip_x2_gen2_launch/launch/lidar.launch.xml b/aip_x2_gen2_launch/launch/lidar.launch.xml
index 512c84f7..d393ee56 100644
--- a/aip_x2_gen2_launch/launch/lidar.launch.xml
+++ b/aip_x2_gen2_launch/launch/lidar.launch.xml
@@ -68,7 +68,7 @@
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2322"/>
         <arg name="sync_angle" value="270"/>
-        <arg name="cut_angle" value="0.0" />
+        <arg name="cut_angle" value="359.0" />
         <arg name="cloud_min_angle" value="90"/>
         <arg name="cloud_max_angle" value="360"/>
         <arg name="return_mode" value="LastStrongest"/>
@@ -171,7 +171,7 @@
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2323"/>
         <arg name="sync_angle" value="180"/>
-        <arg name="cut_angle" value="277.0" />
+        <arg name="cut_angle" value="274.0" />
         <arg name="cloud_min_angle" value="85"/>
         <arg name="cloud_max_angle" value="275"/>
         <arg name="return_mode" value="LastStrongest"/>

From fd4e50eacda123a87e4bd2989cb76a6047f27b64 Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Thu, 28 Nov 2024 16:50:23 +0900
Subject: [PATCH 2/3] chore: adjust cut angle

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
 aip_x2_gen2_launch/launch/lidar.launch.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/aip_x2_gen2_launch/launch/lidar.launch.xml b/aip_x2_gen2_launch/launch/lidar.launch.xml
index b382a8fb..7c228b32 100644
--- a/aip_x2_gen2_launch/launch/lidar.launch.xml
+++ b/aip_x2_gen2_launch/launch/lidar.launch.xml
@@ -68,7 +68,7 @@
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2322"/>
         <arg name="sync_angle" value="270"/>
-        <arg name="cut_angle" value="359.0" />
+        <arg name="cut_angle" value="359.99" />
         <arg name="cloud_min_angle" value="90"/>
         <arg name="cloud_max_angle" value="360"/>
         <arg name="return_mode" value="LastStrongest"/>

From 459160761dbd13c808771f2f8e0826bb825e8995 Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Thu, 28 Nov 2024 17:53:36 +0900
Subject: [PATCH 3/3] fix: make sure cut_angle equal max angle

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
 aip_x2_gen2_launch/launch/lidar.launch.xml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/aip_x2_gen2_launch/launch/lidar.launch.xml b/aip_x2_gen2_launch/launch/lidar.launch.xml
index 7c228b32..bb71fd44 100644
--- a/aip_x2_gen2_launch/launch/lidar.launch.xml
+++ b/aip_x2_gen2_launch/launch/lidar.launch.xml
@@ -68,9 +68,9 @@
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2322"/>
         <arg name="sync_angle" value="270"/>
-        <arg name="cut_angle" value="359.99" />
+        <arg name="cut_angle" value="359.0" />
         <arg name="cloud_min_angle" value="90"/>
-        <arg name="cloud_max_angle" value="360"/>
+        <arg name="cloud_max_angle" value="359"/>
         <arg name="return_mode" value="LastStrongest"/>
         <arg name="ptp_profile" value="automotive"/>
         <arg name="ptp_transport_type" value="L2"/>