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feat(aip_x2_gen2_launch): added the cuda acceleration to the x2 gen2 pipeline #439

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Merged
drwnz merged 4 commits into from
Jul 25, 2025
Merged

feat(aip_x2_gen2_launch): added the cuda acceleration to the x2 gen2 pipeline #439

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8360339
feat: added the cuda acceleration to the x2 gen2 pipeline
knzo25 Apr 28, 2025
e45d02d
chore: disabled the acceleration by default
knzo25 Apr 28, 2025
89a18d8
fix: update nebula params and re-enable Nebula launching when CUDA is on
mojomex Jun 2, 2025
00274f8
ci(pre-commit): autofix
pre-commit-ci[bot] Jun 30, 2025
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17 changes: 17 additions & 0 deletions aip_x2_gen2_launch/launch/lidar.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,8 @@
<arg name="vehicle_mirror_param_file"/>
<arg name="use_pointcloud_container" default="false" description="launch pointcloud container"/>
<arg name="pointcloud_container_name" default="pointcloud_container"/>
<arg name="use_shared_container" default="false"/>
<arg name="use_cuda_preprocessor" default="false"/>
<arg name="udp_only" default="false"/>
<arg name="dual_return_filter_param_file" default="$(find-pkg-share aip_x2_gen2_launch)/config/dual_return_filter.param.yaml"/>
<arg name="ring_outlier_filter_node_param_file" default="$(find-pkg-share aip_x2_gen2_launch)/config/ring_outlier_filter_node.param.yaml"/>
Expand All @@ -23,6 +25,7 @@
<arg name="use_intra_process" value="true" />
<arg name="use_multithread" value="true" />
<arg name="use_pointcloud_container" value="true"/>
<arg name="use_cuda_preprocessor" value="$(var use_cuda_preprocessor)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
</include>

Expand Down Expand Up @@ -89,6 +92,8 @@
<arg name="launch_hw" value="$(var launch_driver)"/>
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
<arg name="container_name" value="$(var pointcloud_container_name)"/>
<arg name="use_shared_container" value="$(var use_shared_container)"/>
<arg name="use_cuda_preprocessor" value="$(var use_cuda_preprocessor)"/>
<arg name="blockage_range" value="[90.0, 270.0]"/>
<arg name="vertical_bins" value ="128" />
<arg name="horizontal_ring_id" value="40" />
Expand Down Expand Up @@ -130,6 +135,8 @@
<arg name="launch_hw" value="$(var launch_driver)"/>
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
<arg name="container_name" value="$(var pointcloud_container_name)"/>
<arg name="use_shared_container" value="$(var use_shared_container)"/>
<arg name="use_cuda_preprocessor" value="$(var use_cuda_preprocessor)"/>
<arg name="blockage_range" value="[130.0, 230.0]"/>
<arg name="vertical_bins" value ="128" />
<arg name="horizontal_ring_id" value="118" />
Expand Down Expand Up @@ -170,6 +177,8 @@
<arg name="launch_hw" value="$(var launch_driver)"/>
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
<arg name="container_name" value="$(var pointcloud_container_name)"/>
<arg name="use_shared_container" value="$(var use_shared_container)"/>
<arg name="use_cuda_preprocessor" value="$(var use_cuda_preprocessor)"/>
<arg name="blockage_range" value="[140.0, 230.0]"/>
<arg name="vertical_bins" value ="128" />
<arg name="horizontal_ring_id" value="118" />
Expand Down Expand Up @@ -211,6 +220,8 @@
<arg name="launch_hw" value="$(var launch_driver)"/>
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
<arg name="container_name" value="$(var pointcloud_container_name)"/>
<arg name="use_shared_container" value="$(var use_shared_container)"/>
<arg name="use_cuda_preprocessor" value="$(var use_cuda_preprocessor)"/>
<arg name="blockage_range" value="[90.0, 270.0]"/>
<arg name="vertical_bins" value ="128" />
<arg name="horizontal_ring_id" value="40" />
Expand Down Expand Up @@ -252,6 +263,8 @@
<arg name="launch_hw" value="$(var launch_driver)"/>
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
<arg name="container_name" value="$(var pointcloud_container_name)"/>
<arg name="use_shared_container" value="$(var use_shared_container)"/>
<arg name="use_cuda_preprocessor" value="$(var use_cuda_preprocessor)"/>
<arg name="blockage_range" value="[90.0, 270.0]"/>
<arg name="vertical_bins" value ="128" />
<arg name="horizontal_ring_id" value="40" />
Expand Down Expand Up @@ -293,6 +306,8 @@
<arg name="launch_hw" value="$(var launch_driver)"/>
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
<arg name="container_name" value="$(var pointcloud_container_name)"/>
<arg name="use_shared_container" value="$(var use_shared_container)"/>
<arg name="use_cuda_preprocessor" value="$(var use_cuda_preprocessor)"/>
<arg name="blockage_range" value="[130.0, 230.0]"/>
<arg name="vertical_bins" value ="128" />
<arg name="horizontal_ring_id" value="118" />
Expand Down Expand Up @@ -333,6 +348,8 @@
<arg name="launch_hw" value="$(var launch_driver)"/>
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
<arg name="container_name" value="$(var pointcloud_container_name)"/>
<arg name="use_shared_container" value="$(var use_shared_container)"/>
<arg name="use_cuda_preprocessor" value="$(var use_cuda_preprocessor)"/>
<arg name="blockage_range" value="[150.0, 220.0]"/>
<arg name="vertical_bins" value ="128" />
<arg name="horizontal_ring_id" value="118" />
Expand Down
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