From f49a8d7c622a90f4c7cba309dbf2ba8eeac4a29a Mon Sep 17 00:00:00 2001
From: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>
Date: Thu, 14 Mar 2024 21:55:02 +0900
Subject: [PATCH] feat: conformed srr520 to the standard launchers and updated
 documentation

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>
---
 README.md                                     |  1 +
 nebula_ros/config/continental/SRR520.yaml     |  1 +
 .../launch/continental_launch_all_hw.xml      |  6 ---
 .../launch/continental_launch_all_hw_rdv.xml  | 51 -------------------
 nebula_ros/launch/nebula_launch.py            |  6 +--
 5 files changed, 4 insertions(+), 61 deletions(-)
 delete mode 100644 nebula_ros/launch/continental_launch_all_hw_rdv.xml

diff --git a/README.md b/README.md
index a509950ca..bc0745b09 100644
--- a/README.md
+++ b/README.md
@@ -99,6 +99,7 @@ Supported models, where sensor_model is the ROS param to be used at launch:
 | Velodyne     | VLP-32        | VLP32        | VLP32.yaml         | :warning:            |
 | Velodyne     | VLS-128       | VLS128       | VLS128.yaml        | :warning:            |
 | Continental  | ARS548        | ARS548       | ARS548.yaml        | :warning:            |
+| Continental  | SRR520        | SRR520       | SRR520.yaml        | :warning:            |
 
 Test status:\
 :heavy_check_mark:: complete\
diff --git a/nebula_ros/config/continental/SRR520.yaml b/nebula_ros/config/continental/SRR520.yaml
index 5b04570a5..3393cc270 100644
--- a/nebula_ros/config/continental/SRR520.yaml
+++ b/nebula_ros/config/continental/SRR520.yaml
@@ -12,3 +12,4 @@
     new_plug_bottom: true
     new_cover_damping: 0.0
     reset_sensor_configuration: false
+    configuration_vehicle_wheelbase: 2.79
diff --git a/nebula_ros/launch/continental_launch_all_hw.xml b/nebula_ros/launch/continental_launch_all_hw.xml
index 49733dfec..060c20c6c 100644
--- a/nebula_ros/launch/continental_launch_all_hw.xml
+++ b/nebula_ros/launch/continental_launch_all_hw.xml
@@ -71,8 +71,6 @@
             <param name="configuration_vehicle_width" value="$(var configuration_vehicle_width)"/>
             <param name="configuration_vehicle_height" value="$(var configuration_vehicle_height)"/>
             <param name="configuration_vehicle_wheelbase" value="$(var configuration_vehicle_wheelbase)"/>
-
-            <param name="use_sim_time" value="false"/>
         </node>
     </group>
 
@@ -112,8 +110,6 @@
             <param name="configuration_host_port" value="$(var configuration_host_port)"/>
             <param name="configuration_sensor_port" value="$(var configuration_sensor_port)"/>
             <param name="use_sensor_time" value="$(var use_sensor_time)"/>
-
-            <param name="use_sim_time" value="false"/>
         </node>
     </group>
 
@@ -150,8 +146,6 @@
             <param name="filters" value="$(var filters)"/>
             <param name="use_bus_time" value="$(var use_bus_time)"/>
             <param name="configuration_vehicle_wheelbase" value="$(var configuration_vehicle_wheelbase)"/>
-
-            <param name="use_sim_time" value="false"/>
         </node>
     </group>
 </launch>
diff --git a/nebula_ros/launch/continental_launch_all_hw_rdv.xml b/nebula_ros/launch/continental_launch_all_hw_rdv.xml
deleted file mode 100644
index 87bbcfbef..000000000
--- a/nebula_ros/launch/continental_launch_all_hw_rdv.xml
+++ /dev/null
@@ -1,51 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-
-  <group>
-    <push-ros-namespace namespace="sensing/radar/front_center"/>
-      <include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml">
-        <arg name="sensor_ip" value="10.13.1.114"/>
-        <arg name="frame_id" value="front_center/radar_link"/>
-    </include>
-  </group>
-
-  <group>
-    <push-ros-namespace namespace="sensing/radar/front_left"/>
-      <include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml">
-        <arg name="sensor_ip" value="10.13.1.115"/>
-        <arg name="frame_id" value="front_left/radar_link"/>
-    </include>
-  </group>
-
-  <group>
-    <push-ros-namespace namespace="sensing/radar/front_right"/>
-      <include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml">
-        <arg name="sensor_ip" value="10.13.1.116"/>
-        <arg name="frame_id" value="front_right/radar_link"/>
-    </include>
-  </group>
-
-  <group>
-    <push-ros-namespace namespace="sensing/radar/rear_center"/>
-      <include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml">
-        <arg name="sensor_ip" value="10.13.1.117"/>
-        <arg name="frame_id" value="rear_center/radar_link"/>
-    </include>
-  </group>
-
-  <group>
-    <push-ros-namespace namespace="sensing/radar/rear_left"/>
-      <include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml">
-        <arg name="sensor_ip" value="10.13.1.118"/>
-        <arg name="frame_id" value="rear_left/radar_link"/>
-    </include>
-  </group>
-
-  <group>
-    <push-ros-namespace namespace="sensing/radar/rear_right"/>
-      <include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml">
-        <arg name="sensor_ip" value="10.13.1.119"/>
-        <arg name="frame_id" value="rear_right/radar_link"/>
-    </include>
-  </group>
-</launch>
diff --git a/nebula_ros/launch/nebula_launch.py b/nebula_ros/launch/nebula_launch.py
index 132b19e5b..37fa725a9 100644
--- a/nebula_ros/launch/nebula_launch.py
+++ b/nebula_ros/launch/nebula_launch.py
@@ -22,17 +22,15 @@ def get_sensor_make(sensor_name):
         return "Velodyne", ".yaml"
     elif sensor_name.lower() in ["helios", "bpearl"]:
         return "Robosense", None
-    elif sensor_name.lower() == "ars548":
+    elif sensor_name.lower() in ["ars548", "srr520"]:
         return "Continental", None
     return "unrecognized_sensor_model", None
 
 def get_plugin_name(sensor_make, sensor_model):
     if sensor_make.lower() != "continental":
         return sensor_make
-    elif sensor_model.lower() == "ars548":
-        return "ContinentalARS548"
     else:
-        return "invalid_plugin"
+        return sensor_make + sensor_model
 
 def is_hw_monitor_available(sensor_make):
     return sensor_make.lower() != "continental"