From a2cf149d7eef6704a055f45099edc20b01a977d7 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Mehmet=20Emin=20BA=C5=9EO=C4=9ELU?=
 <mehmeteminbasoglu@hotmail.com>
Date: Fri, 23 Feb 2024 14:00:11 +0300
Subject: [PATCH] chore: tidy up

---
 .../include/nebula_common/velodyne/velodyne_common.hpp | 10 +++++++---
 .../decoders/velodyne_scan_decoder.hpp                 |  5 +++--
 nebula_ros/launch/velodyne_launch_all_hw.xml           |  4 ++--
 3 files changed, 12 insertions(+), 7 deletions(-)

diff --git a/nebula_common/include/nebula_common/velodyne/velodyne_common.hpp b/nebula_common/include/nebula_common/velodyne/velodyne_common.hpp
index aba0163e2..b629fb5b4 100644
--- a/nebula_common/include/nebula_common/velodyne/velodyne_common.hpp
+++ b/nebula_common/include/nebula_common/velodyne/velodyne_common.hpp
@@ -12,8 +12,10 @@ namespace nebula
 namespace drivers
 {
 
-/// @brief Invalid region on the cloud to be removed
-struct InvalidRegion {
+/// @brief Invalid region on the cloud to be removed. `start` and `end` represent angles of the
+/// region.
+struct InvalidRegion
+{
   uint16_t start;
   uint16_t end;
 };
@@ -27,7 +29,9 @@ struct VelodyneSensorConfiguration : LidarConfigurationBase
   uint16_t cloud_min_angle;
   uint16_t cloud_max_angle;
   bool invalid_point_remove;
-  std::map<int, std::vector<InvalidRegion>> invalid_regions;
+  std::map<int, std::vector<InvalidRegion>>
+    invalid_regions;  // Key holds the channel id, value holds invalid regions belong to that
+                      // channel
 };
 /// @brief Convert VelodyneSensorConfiguration to string (Overloading the << operator)
 /// @param os
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/velodyne_scan_decoder.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/velodyne_scan_decoder.hpp
index 04732fddc..92a393ef8 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/velodyne_scan_decoder.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/velodyne_scan_decoder.hpp
@@ -183,8 +183,9 @@ class VelodyneScanDecoder
   /// @brief Resetting overflowed point cloud buffer
   virtual void reset_overflow(double time_stamp) = 0;
 
-  /// @brief Checks if the point is invalid.
-  /// @param point The point to check.
+  /// @brief Checks if the point is inside invalid regions.
+  /// @param channel Channel id of the point.
+  /// @param azimuth Azimuth angle of the point.
   /// @return True if the point is invalid, false otherwise.
   bool check_invalid_point(const int & channel, const uint16_t & azimuth)
   {
diff --git a/nebula_ros/launch/velodyne_launch_all_hw.xml b/nebula_ros/launch/velodyne_launch_all_hw.xml
index ddfc4e047..58f2f6050 100644
--- a/nebula_ros/launch/velodyne_launch_all_hw.xml
+++ b/nebula_ros/launch/velodyne_launch_all_hw.xml
@@ -19,9 +19,9 @@
 
     <arg name="setup_sensor" default="True" description="Enable sensor setup on hw-driver."/>
 
-    <arg name="invalid_point_remove" default="true"/>
+    <arg name="invalid_point_remove" default="false"/>
     <arg name="invalid_regions"
-         default="'[[12, 31110, 31495], [0, 3500, 6900], [1, 3400, 6500], [2, 3200, 4600], [3, 3200, 4600], [4, 3000, 4300], [5, 2950, 4050], [6, 3100, 3800], [0, 26000, 32200], [1, 26000, 32200], [2, 26000, 31000], [3, 26000, 30000], [4, 26000, 28000]]'"/>
+         default="'[[0, 3500, 6900], [1, 3400, 6500], [2, 3200, 4600], [3, 3200, 4600]]'"/>
 
     <node pkg="nebula_ros" exec="velodyne_driver_ros_wrapper_node"
           name="velodyne_cloud" output="screen">