From 0e5d80f546865e85215427b23e7f95cf11cbd66d Mon Sep 17 00:00:00 2001
From: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>
Date: Tue, 3 Sep 2024 15:24:33 +0900
Subject: [PATCH] chore: adapted to the new way of using lidartag

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>
---
 .../launch/calibrator.launch.xml              | 22 +++++++++++++++++--
 .../launch/lidartag_detector.launch.xml       | 21 ++++++++++++++++--
 .../tag_based_pnp_calibrator.launch.xml       | 18 ++++++++++++++-
 ...based_sfm_base_lidar_calibrator.launch.xml |  2 +-
 .../rdv/tag_based_pnp_calibrator.launch.xml   |  2 +-
 ...based_sfm_base_lidar_calibrator.launch.xml |  2 +-
 6 files changed, 59 insertions(+), 8 deletions(-)

diff --git a/calibrators/tag_based_pnp_calibrator/launch/calibrator.launch.xml b/calibrators/tag_based_pnp_calibrator/launch/calibrator.launch.xml
index 4cec786a..4af18237 100644
--- a/calibrators/tag_based_pnp_calibrator/launch/calibrator.launch.xml
+++ b/calibrators/tag_based_pnp_calibrator/launch/calibrator.launch.xml
@@ -3,16 +3,34 @@
   <arg name="camera_info_topic"/>
   <arg name="pointcloud_topic"/>
   <arg name="base_frame" default="base_link"/>
-  <arg name="lidar_model" description="For supported lidar models check the lidartag repository"/>
+
   <arg name="use_receive_time" default="false" description="If sensor synchronization does not work, we can force the use of system time"/>
   <arg name="use_rectified_image" default="true" description="We need to know if the image has been rectified so we can determine the use of K or P"/>
   <arg name="calibration_pairs" default="9" description="Number of lidar-image pairs for the calibration to converge"/>
   <arg name="calibration_pairs_min_distance" default="1.5" description="Minimum allowed between a new detection and current pairs"/>
 
+  <arg name="lidar_model">
+    <choice value="aeva_aeries2"/>
+    <choice value="at128"/>
+    <choice value="innoviz2"/>
+    <choice value="ouster_os1_128"/>
+    <choice value="ouster_os2"/>
+    <choice value="pandar_40p"/>
+    <choice value="pandar_64"/>
+    <choice value="pandar_qt"/>
+    <choice value="pandar_xt32"/>
+    <choice value="robosense_m1"/>
+    <choice value="seyond_falcon"/>
+    <choice value="seyond_robin_w"/>
+    <choice value="velodyne_vlp16"/>
+    <choice value="velodyne_vls128"/>
+  </arg>
+
   <arg name="calibration_service_name" default="extrinsic_calibration"/>
 
   <!-- lidartag detector -->
-  <include file="$(find-pkg-share lidartag)/launch/lidartag_$(var lidar_model).launch.xml">
+  <include file="$(find-pkg-share lidartag)/launch/lidartag.launch.xml">
+    <arg name="lidar_model" value="$(var lidar_model)"/>
     <arg name="pointcloud_topic" value="$(var pointcloud_topic)"/>
   </include>
 
diff --git a/calibrators/tag_based_sfm_calibrator/launch/lidartag_detector.launch.xml b/calibrators/tag_based_sfm_calibrator/launch/lidartag_detector.launch.xml
index 02c0f144..7abd999e 100644
--- a/calibrators/tag_based_sfm_calibrator/launch/lidartag_detector.launch.xml
+++ b/calibrators/tag_based_sfm_calibrator/launch/lidartag_detector.launch.xml
@@ -3,12 +3,29 @@
   <arg name="ns" default=""/>
   <arg name="pointcloud_topic"/>
   <arg name="filtered_detections_topic" default="lidartag/filtered/detections_array"/>
-  <arg name="lidar_model"/>
+
+  <arg name="lidar_model">
+    <choice value="aeva_aeries2"/>
+    <choice value="at128"/>
+    <choice value="innoviz2"/>
+    <choice value="ouster_os1_128"/>
+    <choice value="ouster_os2"/>
+    <choice value="pandar_40p"/>
+    <choice value="pandar_64"/>
+    <choice value="pandar_qt"/>
+    <choice value="pandar_xt32"/>
+    <choice value="robosense_m1"/>
+    <choice value="seyond_falcon"/>
+    <choice value="seyond_robin_w"/>
+    <choice value="velodyne_vlp16"/>
+    <choice value="velodyne_vls128"/>
+  </arg>
 
   <group>
     <push-ros-namespace namespace="$(var ns)"/>
 
-    <include file="$(find-pkg-share lidartag)/launch/lidartag_$(var lidar_model).launch.xml">
+    <include file="$(find-pkg-share lidartag)/launch/lidartag.launch.xml">
+      <arg name="lidar_model" value="$(var lidar_model)"/>
       <arg name="pointcloud_topic" value="$(var pointcloud_topic)"/>
     </include>
 
diff --git a/sensor_calibration_manager/launch/default_project/tag_based_pnp_calibrator.launch.xml b/sensor_calibration_manager/launch/default_project/tag_based_pnp_calibrator.launch.xml
index d01343c5..05c47a05 100644
--- a/sensor_calibration_manager/launch/default_project/tag_based_pnp_calibrator.launch.xml
+++ b/sensor_calibration_manager/launch/default_project/tag_based_pnp_calibrator.launch.xml
@@ -5,10 +5,26 @@
   <arg name="image_compressed_topic" default="/sensing/camera/camera0/image_rect_color/compressed" description="Input compressed image"/>
   <arg name="camera_info_topic" default="/sensing/camera/camera0/camera_info"/>
   <arg name="pointcloud_topic" default="/sensing/lidar/top/pointcloud_raw"/>
-  <arg name="lidar_model" default="velodyne_vls128" description="this lidar must be supported by the lidartag package"/>
   <arg name="use_rectified_image" default="true" description="image_rect vs. raw"/>
   <arg name="view_only_ui" default="true" description="By default we use a minimal UI"/>
 
+  <arg name="lidar_model">
+    <choice value="aeva_aeries2"/>
+    <choice value="at128"/>
+    <choice value="innoviz2"/>
+    <choice value="ouster_os1_128"/>
+    <choice value="ouster_os2"/>
+    <choice value="pandar_40p"/>
+    <choice value="pandar_64"/>
+    <choice value="pandar_qt"/>
+    <choice value="pandar_xt32"/>
+    <choice value="robosense_m1"/>
+    <choice value="seyond_falcon"/>
+    <choice value="seyond_robin_w"/>
+    <choice value="velodyne_vlp16"/>
+    <choice value="velodyne_vls128"/>
+  </arg>
+
   <let name="rviz_profile" value=""/>
   <let name="rviz_profile" value="$(find-pkg-share tag_based_pnp_calibrator)/rviz/default_profile.rviz"/>
 
diff --git a/sensor_calibration_manager/launch/default_project/tag_based_sfm_base_lidar_calibrator.launch.xml b/sensor_calibration_manager/launch/default_project/tag_based_sfm_base_lidar_calibrator.launch.xml
index 06ceaae5..86db6e70 100644
--- a/sensor_calibration_manager/launch/default_project/tag_based_sfm_base_lidar_calibrator.launch.xml
+++ b/sensor_calibration_manager/launch/default_project/tag_based_sfm_base_lidar_calibrator.launch.xml
@@ -12,7 +12,7 @@
   <let name="main_calibration_sensor_frame" value="pandar_top"/>
 
   <!-- Lidar configuration -->
-  <let name="calibration_lidar_model" value="pandar64"/>
+  <let name="calibration_lidar_model" value="pandar_64"/>
 
   <!-- Topic configuration -->
   <let name="calibration_lidar_topic" value="/sensing/lidar/top/pointcloud_raw"/>
diff --git a/sensor_calibration_manager/launch/rdv/tag_based_pnp_calibrator.launch.xml b/sensor_calibration_manager/launch/rdv/tag_based_pnp_calibrator.launch.xml
index 963e3db5..0e8f128d 100644
--- a/sensor_calibration_manager/launch/rdv/tag_based_pnp_calibrator.launch.xml
+++ b/sensor_calibration_manager/launch/rdv/tag_based_pnp_calibrator.launch.xml
@@ -23,7 +23,7 @@
 
   <let name="camera_frame" value="$(var camera_name)/camera_link"/>
   <let name="rviz_profile" value="$(find-pkg-share tag_based_pnp_calibrator)/rviz/default_profile.rviz"/>
-  <let name="lidar_model" value="pandar64"/>
+  <let name="lidar_model" value="pandar_64"/>
   <let name="lidar_frame" value="pandar_top"/>
   <let name="use_rectified_image" value="false"/>
 
diff --git a/sensor_calibration_manager/launch/rdv/tag_based_sfm_base_lidar_calibrator.launch.xml b/sensor_calibration_manager/launch/rdv/tag_based_sfm_base_lidar_calibrator.launch.xml
index bbc67b99..da8a82c7 100644
--- a/sensor_calibration_manager/launch/rdv/tag_based_sfm_base_lidar_calibrator.launch.xml
+++ b/sensor_calibration_manager/launch/rdv/tag_based_sfm_base_lidar_calibrator.launch.xml
@@ -12,7 +12,7 @@
   <arg name="main_calibration_sensor_frame" default="pandar_top"/>
 
   <!-- Lidar configuration -->
-  <arg name="calibration_lidar_model" default="pandar64"/>
+  <arg name="calibration_lidar_model" default="pandar_64"/>
 
   <!-- Topic configuration -->
   <arg name="calibration_lidar_topic" default="/sensing/lidar/top/pointcloud_raw"/>