From f8678425e0221f893d0456c02ac9e33c66def8cb Mon Sep 17 00:00:00 2001
From: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
Date: Thu, 6 Feb 2025 11:08:19 +0900
Subject: [PATCH] Added ptp_lock_threshold

Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
---
 common_sensor_launch/launch/hesai_OT128.launch.xml          | 1 +
 common_sensor_launch/launch/hesai_XT32.launch.xml           | 1 +
 common_sensor_launch/launch/nebula_node_container.launch.py | 2 ++
 3 files changed, 4 insertions(+)

diff --git a/common_sensor_launch/launch/hesai_OT128.launch.xml b/common_sensor_launch/launch/hesai_OT128.launch.xml
index 9fed2384..49031a6c 100644
--- a/common_sensor_launch/launch/hesai_OT128.launch.xml
+++ b/common_sensor_launch/launch/hesai_OT128.launch.xml
@@ -37,6 +37,7 @@
     <arg name="ptp_transport_type" value="L2"/>
     <arg name="ptp_switch_type" value="NON_TSN"/>
     <arg name="ptp_domain" value="0"/>
+    <arg name="ptp_lock_threshold" value="100"/>
     <arg name="setup_sensor" value="true"/>
     <arg name="udp_only" value="$(var udp_only)"/>
   </include>
diff --git a/common_sensor_launch/launch/hesai_XT32.launch.xml b/common_sensor_launch/launch/hesai_XT32.launch.xml
index 762b47ff..07b236b8 100644
--- a/common_sensor_launch/launch/hesai_XT32.launch.xml
+++ b/common_sensor_launch/launch/hesai_XT32.launch.xml
@@ -38,6 +38,7 @@
     <arg name="ptp_profile" value="automotive"/>
     <arg name="ptp_switch_type" value="NON_TSN"/>
     <arg name="ptp_transport_type" value="L2"/>
+    <arg name="ptp_lock_threshold" value="100"/>
     <arg name="setup_sensor" value="true"/>
     <arg name="udp_only" value="$(var udp_only)"/>
     <arg name="retry_hw" value="true"/>
diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py
index 270e528d..691722a1 100644
--- a/common_sensor_launch/launch/nebula_node_container.launch.py
+++ b/common_sensor_launch/launch/nebula_node_container.launch.py
@@ -275,6 +275,7 @@ def create_parameter_dict(*args):
                     "ptp_transport_type",
                     "ptp_switch_type",
                     "ptp_domain",
+                    "ptp_lock_threshold",
                     "retry_hw",
                 ),
             }
@@ -360,6 +361,7 @@ def add_launch_arg(name: str, default_value=None, description=None):
     add_launch_arg("ptp_transport_type", "L2")
     add_launch_arg("ptp_switch_type", "TSN")
     add_launch_arg("ptp_domain", "0")
+    add_launch_arg("ptp_lock_threshold", "100")
     add_launch_arg("output_as_sensor_frame", "True", "output final pointcloud in sensor frame")
     add_launch_arg("enable_blockage_diag", "true")
     add_launch_arg("horizontal_ring_id", "64")