From a809559fb4eb84eb3d7b1b3381a296be58838009 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Thu, 14 Mar 2024 20:19:14 +0900
Subject: [PATCH] fix: rollback erroneous changes in velodyne launch

---
 nebula_ros/launch/velodyne_launch_all_hw.xml | 68 ++++++++++----------
 1 file changed, 34 insertions(+), 34 deletions(-)

diff --git a/nebula_ros/launch/velodyne_launch_all_hw.xml b/nebula_ros/launch/velodyne_launch_all_hw.xml
index 3d2059d9c..c39437039 100644
--- a/nebula_ros/launch/velodyne_launch_all_hw.xml
+++ b/nebula_ros/launch/velodyne_launch_all_hw.xml
@@ -28,40 +28,40 @@
         <param name="calibration_file" value="$(var calibration_file)"/>
     </node>
 
-<!--    <node pkg="nebula_ros" exec="velodyne_hw_ros_wrapper_node"-->
-<!--          name="velodyne_hw_driver" output="screen">-->
-<!--        <param name="sensor_model" value="$(var sensor_model)"/>-->
-<!--        <param name="return_mode" value="$(var return_mode)"/>-->
-<!--        <param name="frame_id" value="$(var frame_id)"/>-->
-<!--        <param name="scan_phase" value="$(var scan_phase)"/>-->
-<!--        <param name="sensor_ip" value="$(var sensor_ip)"/>-->
-<!--        <param name="frame_id" value="$(var frame_id)"/>-->
-<!--        <param name="host_ip" value="$(var host_ip)"/>-->
-<!--        <param name="data_port" value="$(var data_port)"/>-->
-<!--        <param name="gnss_port" value="$(var gnss_port)"/>-->
-<!--        <param name="packet_mtu_size" value="$(var packet_mtu_size)"/>-->
-<!--        <param name="rotation_speed" value="$(var rotation_speed)"/>-->
-<!--        <param name="cloud_min_angle" value="$(var cloud_min_angle)"/>-->
-<!--        <param name="cloud_max_angle" value="$(var cloud_max_angle)"/>-->
-<!--        <param name="setup_sensor" value="$(var setup_sensor)"/>-->
-<!--    </node>-->
+    <node pkg="nebula_ros" exec="velodyne_hw_ros_wrapper_node"
+          name="velodyne_hw_driver" output="screen">
+        <param name="sensor_model" value="$(var sensor_model)"/>
+        <param name="return_mode" value="$(var return_mode)"/>
+        <param name="frame_id" value="$(var frame_id)"/>
+        <param name="scan_phase" value="$(var scan_phase)"/>
+        <param name="sensor_ip" value="$(var sensor_ip)"/>
+        <param name="frame_id" value="$(var frame_id)"/>
+        <param name="host_ip" value="$(var host_ip)"/>
+        <param name="data_port" value="$(var data_port)"/>
+        <param name="gnss_port" value="$(var gnss_port)"/>
+        <param name="packet_mtu_size" value="$(var packet_mtu_size)"/>
+        <param name="rotation_speed" value="$(var rotation_speed)"/>
+        <param name="cloud_min_angle" value="$(var cloud_min_angle)"/>
+        <param name="cloud_max_angle" value="$(var cloud_max_angle)"/>
+        <param name="setup_sensor" value="$(var setup_sensor)"/>
+    </node>
 
-<!--    <node pkg="nebula_ros" exec="velodyne_hw_monitor_ros_wrapper_node"-->
-<!--          name="hesai_hw_monitor_$(var frame_id)" output="screen">-->
-<!--        <param name="sensor_model" value="$(var sensor_model)"/>-->
-<!--        <param name="return_mode" value="$(var return_mode)"/>-->
-<!--        <param name="frame_id" value="$(var frame_id)"/>-->
-<!--        <param name="scan_phase" value="$(var scan_phase)"/>-->
-<!--        <param name="sensor_ip" value="$(var sensor_ip)"/>-->
-<!--        <param name="frame_id" value="$(var frame_id)"/>-->
-<!--        <param name="host_ip" value="$(var host_ip)"/>-->
-<!--        <param name="data_port" value="$(var data_port)"/>-->
-<!--        <param name="gnss_port" value="$(var gnss_port)"/>-->
-<!--        <param name="packet_mtu_size" value="$(var packet_mtu_size)"/>-->
-<!--        <param name="rotation_speed" value="$(var rotation_speed)"/>-->
-<!--        <param name="cloud_min_angle" value="$(var cloud_min_angle)"/>-->
-<!--        <param name="cloud_max_angle" value="$(var cloud_max_angle)"/>-->
-<!--        <param name="setup_sensor" value="$(var setup_sensor)"/>-->
-<!--    </node>-->
+    <node pkg="nebula_ros" exec="velodyne_hw_monitor_ros_wrapper_node"
+          name="hesai_hw_monitor_$(var frame_id)" output="screen">
+        <param name="sensor_model" value="$(var sensor_model)"/>
+        <param name="return_mode" value="$(var return_mode)"/>
+        <param name="frame_id" value="$(var frame_id)"/>
+        <param name="scan_phase" value="$(var scan_phase)"/>
+        <param name="sensor_ip" value="$(var sensor_ip)"/>
+        <param name="frame_id" value="$(var frame_id)"/>
+        <param name="host_ip" value="$(var host_ip)"/>
+        <param name="data_port" value="$(var data_port)"/>
+        <param name="gnss_port" value="$(var gnss_port)"/>
+        <param name="packet_mtu_size" value="$(var packet_mtu_size)"/>
+        <param name="rotation_speed" value="$(var rotation_speed)"/>
+        <param name="cloud_min_angle" value="$(var cloud_min_angle)"/>
+        <param name="cloud_max_angle" value="$(var cloud_max_angle)"/>
+        <param name="setup_sensor" value="$(var setup_sensor)"/>
+    </node>
 
 </launch>