From f69283d64d32339a85b5b47fc6844d624360b7a0 Mon Sep 17 00:00:00 2001
From: "Jian.Wang" <jian.wang@cn.innovusion.com>
Date: Wed, 15 Nov 2023 10:39:03 +0800
Subject: [PATCH] Switch back to the startup mode of py

---
 README.md                                     |  1 +
 .../launch/innovusion_launch_all_hw.xml       | 53 -------------------
 2 files changed, 1 insertion(+), 53 deletions(-)
 delete mode 100644 nebula_ros/launch/innovusion_launch_all_hw.xml

diff --git a/README.md b/README.md
index 1fc6af942..05353d6b2 100644
--- a/README.md
+++ b/README.md
@@ -61,6 +61,7 @@ You can easily run the sensor hardware interface, the sensor hardware monitor an
 
 ```bash
 ros2 launch nebula_ros nebula_launch.py sensor_model:=Pandar64
+ros2 launch nebula_ros nebula_launch.py sensor_model:=Falcon sensor_ip:=172.168.1.10
 ```
 
 If you don't want to launch the hardware (i.e. when you are working from a rosbag), set the `launch_hw` flag to false:
diff --git a/nebula_ros/launch/innovusion_launch_all_hw.xml b/nebula_ros/launch/innovusion_launch_all_hw.xml
deleted file mode 100644
index 884878188..000000000
--- a/nebula_ros/launch/innovusion_launch_all_hw.xml
+++ /dev/null
@@ -1,53 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-    <arg name="sensor_model" description="Robin/Falcon"/>
-    <arg name="return_mode" default="Dual" description="See readme for supported return modes"/>
-    <arg name="frame_id"  default="innovusion"/>
-
-    <arg name="sensor_ip" default="172.168.1.10" description="Lidar Sensor IP"/>
-    <arg name="host_ip" default="172.168.1.11" description="Local IP"/>
-    <arg name="data_port" default="8010" description="LiDAR Data Port"/>
-    <arg name="cloud_min_range" default="0.4" description="Min Point Range"/>
-    <arg name="cloud_max_range" default="2000.0" description="Max Point Range"/>
-
-    <arg name="setup_sensor" default="true" description="Enable sensor setup on hw-driver."/>
-
-    <node pkg="nebula_ros" exec="innovusion_driver_ros_wrapper_node"
-          name="innovusion_cloud" output="screen">
-        <param name="sensor_model" value="$(var sensor_model)"/>
-        <param name="host_ip" value="$(var host_ip)"/>
-        <param name="return_mode" value="$(var return_mode)"/>
-        <param name="frame_id" value="$(var frame_id)"/>
-        <param name="sensor_ip" value="$(var sensor_ip)"/>
-        <param name="cloud_min_range" value="$(var cloud_min_range)"/>
-        <param name="cloud_max_range" value="$(var cloud_max_range)"/>
-    </node>
-
-    <node pkg="nebula_ros" exec="innovusion_hw_interface_ros_wrapper_node"
-          name="innovusion_hw_driver" output="screen">
-        <param name="sensor_model" value="$(var sensor_model)"/>
-        <param name="return_mode" value="$(var return_mode)"/>
-        <param name="frame_id" value="$(var frame_id)"/>
-        <param name="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="setup_sensor" value="$(var setup_sensor)"/>
-        <param name="cloud_min_range" value="$(var cloud_min_range)"/>
-        <param name="cloud_max_range" value="$(var cloud_max_range)"/>
-    </node>
-
-    <node pkg="nebula_ros" exec="innovusion_hw_monitor_ros_wrapper_node"
-          name="innovusion_hw_monitor_$(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="$(var frame_id)"/>
-        <param name="sensor_ip" value="$(var sensor_ip)"/>
-        <param name="frame_id" value="$(var frame_id)"/>
-        <param name="host_ip" value="$(var host_ip)"/>
-        <param name="data_port" value="$(var data_port)"/>
-        <param name="cloud_min_range" value="$(var cloud_min_range)"/>
-        <param name="cloud_max_range" value="$(var cloud_max_range)"/>
-    </node>
-
-</launch>