# Hesai LiDAR (AT128) configuration for the polymath lidar test bench.

lidar:
  # ── Identity ──────────────────────────────────────────────────────────────
  frame:               hesai_lidar      # TF frame / URDF link name
  folder:              AT128            # Results folder and Notion identifier
  point_cloud_topic:   /lidar_points

  # ── Mount pose (lidar_joint in lidar_bench.urdf) ──────────────────────────
  joint_xyz_m:         [0.0, 0.0, 0.05]    # offset from motor_axis (m)
  joint_rpy_rad:       [0.0, 0.0, 0.0] # yaw = -90 deg, sensor X points toward whiteboard

  # ── Bench geometry ────────────────────────────────────────────────────────
  map_to_motor_height_m:   0.9406   # vertical distance, ground (map) -> motor_axis (m)
  motor_to_lidar_height_m: 0.1524   # vertical distance, motor_axis -> lidar (m)

  # ── Driver ────────────────────────────────────────────────────────────────
  ros2_driver:         hesai_ros_driver
  driver_command:      'ros2 launch hesai_ros_driver start.py'
  driver_config_file:  '/workspaces/polymath_workspace/src/HesaiLidar_ROS_2.0/config/config.yaml'
  lidar_gui:           ''                                    # empty disables GUI prompt (input() needs a TTY which ros2 launch can't provide)

  # ── Sweep ─────────────────────────────────────────────────────────────────
  angles:              [10.0, -7.0]                         # servo angles to sweep (deg)
  parameter_names:     [distance_correction_flag, echo_mode_filter, frame_start_azimuth, fov_start, fov_end]


  horizontal_fov_deg: 120.0
  vertical_fov_deg: 25.4
  horizontal_resolution_deg: 0.2
  vertical_resolution_deg: 0.8
  cost: 1800.0

  distance_correction_flag:
    type:    bool
    default: false
    values:  [true, false]
    path:    lidar.0.driver.distance_correction_flag

  # NOTE: echo_mode_filter only has effect if the AT128 is in a dual-return
  # hardware mode (0x39/0x3b/0x3c/0x3e). Set that once via Hesai's PTC tool
  # or web GUI before running this sweep; otherwise these values produce
  # identical results.
  echo_mode_filter:
    type:    int
    default: 0
    values:  [0, 1, 2]   # 0=all echoes, 1=primary only, 2=secondary only
    path:    lidar.0.driver.echo_mode_filter

  # AT128/Pandar128-specific: shifts where the frame "starts" in azimuth.
  frame_start_azimuth:
    type:    int
    default: 0
    values:  [0, 90, 180]
    path:    lidar.0.driver.frame_start_azimuth

  # Horizontal FOV trimming. AT128 native FOV is ~120°; -1 disables.
  fov_start:
    type:    int
    default: -1
    values:  [-1, 30, 60]
    path:    lidar.0.driver.fov_start

  fov_end:
    type:    int
    default: -1
    values:  [-1, 300, 330]
    path:    lidar.0.driver.fov_end