nebula. fix hesai_at128.launch.xml

Signed-off-by: Yuri Guimaraes <[email protected]>
tier4 · Aug 28, 2024 · b26973b · b26973b
1 parent 1bc5fb3
commit b26973b
Showing 1 changed file with 6 additions and 6 deletions.
diff --git a/edge_auto_launch/launch/component/hesai_at128.launch.xml b/edge_auto_launch/launch/component/hesai_at128.launch.xml
@@ -17,12 +17,12 @@
   <arg name="cloud_max_angle" default="360" />
   <arg name="dual_return_distance_threshold" default="0.1"/>
   <arg name="diag_span" default="1000"/>
-  <arg name="setup_sensor" default="True"/>
+  <arg name="setup_sensor" default="False"/>
 
   <arg name="ptp_profile" default="1588v2" description="1588v2|802.1as|automotive"/>
   <arg name="ptp_domain" default="0" description="PTP Domain [0-127]."/>
   <arg name="ptp_transport_type" default="UDP" description="1588v2 supports 'UDP' or 'L2', other profiles only L2 (HW)"/>
-  <arg name="ptp_switch_type" default="TSN" description="For automotive profile,'TSN' or 'NON_TSN'"/>
+  <arg name="ptp_switch_type" default="NON_TSN" description="For automotive profile,'TSN' or 'NON_TSN'"/>
   <arg name="delay_hw_ms" default="1000" description="hw driver startup delay in milliseconds."/>
   <arg name="delay_monitor_ms" default="2000" description="hw monitor startup delay in milliseconds."/>
   <arg name="retry_hw" default="True" description="hw driver startup retry (false when using pcap)."/>
@@ -58,15 +58,15 @@
         <param name="cloud_max_angle" value="$(var cloud_max_angle)"/>
         <param name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/>
         <param name="setup_sensor" value="$(var setup_sensor)"/>
-	<param name="delay_hw_ms" value="$(var delay_hw_ms)"/>
+        <param name="delay_hw_ms" value="$(var delay_hw_ms)"/>
         <param name="retry_hw" value="$(var retry_hw)"/>
         <param name="ptp_profile" value="$(var ptp_profile)"/>
         <param name="ptp_domain" value="$(var ptp_domain)"/>
         <param name="ptp_transport_type" value="$(var ptp_transport_type)"/>
         <param name="ptp_switch_type" value="$(var ptp_switch_type)"/>
         <extra_arg name="use_intra_process_comms" value="true"/>
       </composable_node>
-      <composable_node pkg="nebula_ros" plugin="HesaiHwMonitorRosWrapper" name="hesai_hw_monitor_ros_wrapper_node" namespace="$(var namespace)">
+      <!-- <composable_node pkg="nebula_ros" plugin="HesaiHwMonitorRosWrapper" name="hesai_hw_monitor_ros_wrapper_node" namespace="$(var namespace)">
         <param name="sensor_model" value="$(var sensor_model)"/>
         <param name="return_mode" value="$(var return_mode)"/>
         <param name="frame_id" value="$(var frame_id)"/>
@@ -82,9 +82,9 @@
         <param name="cloud_max_angle" value="$(var cloud_max_angle)"/>
         <param name="diag_span" value="$(var diag_span)"/>
         <param name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/>
-	<param name="delay_monitor_ms" value="$(var delay_monitor_ms)"/>
+        <param name="delay_monitor_ms" value="$(var delay_monitor_ms)"/>
         <extra_arg name="use_intra_process_comms" value="true"/>
-      </composable_node>
+      </composable_node> -->
     </load_composable_node>
   </group>
 </launch>