chore: add option in rdv and x2 launcher

Signed-off-by: vividf <yihsiang.fang@tier4.jp>
tier4 · Aug 20, 2024 · 899391e · 899391e
1 parent ceea503
commit 899391e
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diff --git a/calibrators/sensor_calibration_manager/launch/rdv/marker_radar_lidar_calibrator.launch.xml b/calibrators/sensor_calibration_manager/launch/rdv/marker_radar_lidar_calibrator.launch.xml
@@ -12,6 +12,7 @@
   <arg name="msg_type" default="radar_tracks">
     <choice value="radar_tracks"/>
     <choice value="radar_scan"/>
+    <choice value="radar_cloud"/>
   </arg>
 
   <arg name="transformation_type" default="svd_2d">
@@ -31,6 +32,7 @@
 
   <let name="input_radar_msg" value="/sensing/radar/$(var radar_name)/objects_raw" if="$(eval &quot;'$(var msg_type)'=='radar_tracks'&quot;)"/>
   <let name="input_radar_msg" value="/sensing/radar/$(var radar_name)/scan_raw" if="$(eval &quot;'$(var msg_type)'=='radar_scan'&quot;)"/>
+  <let name="input_radar_msg" value="/sensing/radar/$(var radar_name)/detection_points" if="$(eval &quot;'$(var msg_type)'=='radar_cloud'&quot;)"/>
 
   <let name="input_lidar_pointcloud" value="/sensing/lidar/top/pointcloud_raw"/>
 

diff --git a/calibrators/sensor_calibration_manager/launch/x2/marker_radar_lidar_calibrator.launch.xml b/calibrators/sensor_calibration_manager/launch/x2/marker_radar_lidar_calibrator.launch.xml
@@ -12,6 +12,7 @@
   <arg name="msg_type" default="radar_tracks">
     <choice value="radar_tracks"/>
     <choice value="radar_scan"/>
+    <choice value="radar_cloud"/>
   </arg>
 
   <arg name="transformation_type" default="svd_2d">
@@ -43,6 +44,7 @@
 
   <let name="input_radar_msg" value="/sensing/radar/$(var radar_name)/objects_raw" if="$(eval &quot;'$(var msg_type)'=='radar_tracks'&quot;)"/>
   <let name="input_radar_msg" value="/sensing/radar/$(var radar_name)/scan_raw" if="$(eval &quot;'$(var msg_type)'=='radar_scan'&quot;)"/>
+  <let name="input_radar_msg" value="/sensing/radar/$(var radar_name)/detection_points" if="$(eval &quot;'$(var msg_type)'=='radar_cloud'&quot;)"/>
 
   <let name="input_lidar_pointcloud" value="/sensing/lidar/front_lower/pointcloud_raw" if="$(eval &quot;'$(var radar_name)' == 'front_left' &quot;)"/>
   <let name="input_lidar_pointcloud" value="/sensing/lidar/front_lower/pointcloud_raw" if="$(eval &quot;'$(var radar_name)' == 'front_center' &quot;)"/>