feat(drs_launch): add parameters to use Seyond devices with latest Ne…

…bula aeva_seyond branch

Signed-off-by: David Wong <[email protected]>

src/drs_launch/launch/component/drs_seyond.launch.xml

@@ -16,6 +16,8 @@
   <arg name="setup_sensor" default="True"/>
   <arg name="retry_hw" default="True"/>
   <arg name="debug_logging" default="False"/>
+  <arg name="calibration_file_path" default=""/>
+
 
   <group>
     <let name="lidar_name" value="lidar_$(var lidar_position)"/>
@@ -34,6 +36,7 @@
       <param name="sensor_ip" value="$(var sensor_ip)"/>
       <param name="launch_hw" value="$(var live_sensor)"/>
       <param name="publish_pointcloud" value="$(var publish_pointcloud)"/>
+      <param name="calibration_file_path" value="$(var calibration_file_path)"/>
       <param name="host_ip" value="$(var host_ip)"/>
       <param name="data_port" value="$(var data_port)"/>
       <param name="setup_sensor" value="$(var setup_sensor)"/>

src/drs_launch/launch/drs_ecu0.launch.xml

@@ -61,6 +61,7 @@
     <arg name="lidar_model" value="Falcon"/>
     <arg name="live_sensor" value="$(var live_sensor)"/>
     <arg name="publish_pointcloud" value="$(var publish_pointcloud)"/>
+    <arg name="calibration_file_path" value=""/>
     <arg name="sensor_ip" value="192.168.2.201"/>
     <arg name="host_ip" value="192.168.2.1"/>
     <arg name="data_port" value="2368"/>
@@ -72,6 +73,7 @@
     <arg name="lidar_model" value="RobinW"/>
     <arg name="live_sensor" value="$(var live_sensor)"/>
     <arg name="publish_pointcloud" value="$(var publish_pointcloud)"/>
+    <arg name="calibration_file_path" value=""/>
     <arg name="sensor_ip" value="192.168.3.203"/>
     <arg name="host_ip" value="192.168.3.1"/>
   </include>

src/drs_launch/launch/drs_ecu1.launch.xml

@@ -52,6 +52,7 @@
     <arg name="lidar_model" value="Falcon"/>
     <arg name="live_sensor" value="$(var live_sensor)"/>
     <arg name="publish_pointcloud" value="$(var publish_pointcloud)"/>
+    <arg name="calibration_file_path" value=""/>
     <arg name="sensor_ip" value="192.168.2.202"/>
     <arg name="host_ip" value="192.168.2.2"/>
     <arg name="data_port" value="2369"/>
@@ -63,6 +64,7 @@
     <arg name="lidar_model" value="RobinW"/>
     <arg name="live_sensor" value="$(var live_sensor)"/>
     <arg name="publish_pointcloud" value="$(var publish_pointcloud)"/>
+    <arg name="calibration_file_path" value=""/>
     <arg name="sensor_ip" value="192.168.3.204"/>
     <arg name="host_ip" value="192.168.3.2"/>
   </include>

src/drs_launch/launch/drs_offline.launch.xml

@@ -5,6 +5,10 @@
        description="If true, sensor drivers will be executed (for actual recording operation)"/>
   <arg name="publish_pointcloud" default="True"
        description="If false, pointcloud decoding will not be performed (for actual recording operation)"/>
+  <arg name="calibration_file_path_right" default=""
+       description="File path for calibration file path of right Robin LiDAR - only needed for A sample device data"/>
+  <arg name="calibration_file_path_left" default=""
+       description="File path for calibration file path of left Robin LiDAR - only needed for A sample device data"/>
   <arg name="has_front4d" default="False"
        description="Should be True when a front-mounted 4D LiDAR is present"/>
   <arg name="publish_tf" default="True"/>
@@ -26,6 +30,7 @@
     <arg name="lidar_model" value="Falcon"/>
     <arg name="live_sensor" value="$(var live_sensor)"/>
     <arg name="publish_pointcloud" value="$(var publish_pointcloud)"/>
+    <arg name="calibration_file_path" value=""/>
     <arg name="sensor_ip" value="192.168.2.201"/>
     <arg name="host_ip" value="192.168.2.1"/>
     <arg name="data_port" value="2368"/>
@@ -37,6 +42,7 @@
     <arg name="lidar_model" value="RobinW"/>
     <arg name="live_sensor" value="$(var live_sensor)"/>
     <arg name="publish_pointcloud" value="$(var publish_pointcloud)"/>
+    <arg name="calibration_file_path" value="$(var calibration_file_path_right)"/>
     <arg name="sensor_ip" value="192.168.3.203"/>
     <arg name="host_ip" value="192.168.3.1"/>
   </include>
@@ -47,6 +53,7 @@
     <arg name="lidar_model" value="Falcon"/>
     <arg name="live_sensor" value="$(var live_sensor)"/>
     <arg name="publish_pointcloud" value="$(var publish_pointcloud)"/>
+    <arg name="calibration_file_path" value=""/>
     <arg name="sensor_ip" value="192.168.2.202"/>
     <arg name="host_ip" value="192.168.2.2"/>
     <arg name="data_port" value="2369"/>
@@ -58,6 +65,7 @@
     <arg name="lidar_model" value="RobinW"/>
     <arg name="live_sensor" value="$(var live_sensor)"/>
     <arg name="publish_pointcloud" value="$(var publish_pointcloud)"/>
+    <arg name="calibration_file_path" value="$(var calibration_file_path_left)"/>
     <arg name="sensor_ip" value="192.168.3.204"/>
     <arg name="host_ip" value="192.168.3.2"/>
   </include>