change param for bench

Signed-off-by: kimurariku <[email protected]>
tier4 · Feb 7, 2025 · cc29873 · cc29873
1 parent cc02a7b
commit cc29873
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Showing 2 changed files with 8 additions and 8 deletions.
diff --git a/aip_x1_launch/launch/lidar.launch.xml b/aip_x1_launch/launch/lidar.launch.xml
@@ -15,10 +15,10 @@
     <group>
       <push-ros-namespace namespace="top"/>
       <include file="$(find-pkg-share common_sensor_launch)/launch/velodyne_VLP16.launch.xml">
-        <arg name="sensor_frame" value="velodyne_top" />
-        <arg name="device_ip" value="192.168.1.20"/>
+        <arg name="sensor_frame" value="hesai_XT32" />
+        <arg name="device_ip" value="192.168.1.201"/>
         <arg name="host_ip" value="$(var host_ip)"/>
-        <arg name="data_port" value="2368"/>
+        <arg name="data_port" value="2321"/>
         <arg name="scan_phase" value="180.0" />
         <arg name="launch_driver" value="$(var launch_driver)" />
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
@@ -30,8 +30,8 @@
     <group>
       <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="sensor_frame" value="hesai_XT32" />
+        <arg name="sensor_ip" value="192.168.3.202" />
         <arg name="data_port" value="2321" />
         <arg name="gnss_port" value="10121" />
         <arg name="scan_phase" value="0.0" />

diff --git a/common_sensor_launch/launch/hesai_XT32.launch.xml b/common_sensor_launch/launch/hesai_XT32.launch.xml
@@ -32,9 +32,9 @@
     <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
     <arg name="use_intra_process" value="true"/>
     <arg name="use_multithread" value="true"/>
-    <arg name="ptp_profile" value="1588v2"/>
-    <arg name="ptp_switch_type" value="TSN"/>
-    <arg name="ptp_transport_type" value="UDP"/>
+    <arg name="ptp_profile" value="automotive"/>
+    <arg name="ptp_switch_type" value="NON_TSN"/>
+    <arg name="ptp_transport_type" value="L2"/>
     <arg name="setup_sensor" value="true"/>
     <arg name="retry_hw" value="true"/>
     <arg name="container_name" value="$(var container_name)"/>