Add multithread and intra process option (autowarefoundation#187)

* Add multithread and intra process option Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix velodyne node container executable Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Add option into aip_xx2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Add option into aip_x2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Add option into aip_x1 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Add option into aip_s1 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Add option into aip_customized Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Add option into lidar.launch.xml Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
TomohitoAndo · Apr 7, 2021 · 443a524 · 443a524
1 parent 21fac3b
commit 443a524
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Showing 16 changed files with 319 additions and 68 deletions.
diff --git a/sensing_launch/launch/aip_customized/lidar.launch.xml b/sensing_launch/launch/aip_customized/lidar.launch.xml
@@ -48,6 +48,8 @@
       <arg name="base_frame" value="base_link" />
       <arg name="use_concat_filter" value="$(var use_concat_filter)" />
       <arg name="vehicle_param_file" value="$(var vehicle_param_file)" />
+      <arg name="use_intra_process" value="false" />
+      <arg name="use_multithread" value="false" />
     </include>
 
   </group>

diff --git a/sensing_launch/launch/aip_customized/pointcloud_preprocessor.launch.py b/sensing_launch/launch/aip_customized/pointcloud_preprocessor.launch.py
@@ -17,7 +17,7 @@
 import yaml
 
 import launch
-from launch.actions import DeclareLaunchArgument, OpaqueFunction
+from launch.actions import DeclareLaunchArgument, OpaqueFunction, SetLaunchConfiguration
 from launch.conditions import IfCondition, UnlessCondition
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import ComposableNodeContainer, LoadComposableNodes
@@ -59,11 +59,14 @@ def launch_setup(context, *args, **kwargs):
         remappings=[('output', 'concatenated/pointcloud')],
         parameters=[{
             'input_topics': ['/sensing/lidar/top/outlier_filtered/pointcloud',
-                            '/sensing/lidar/left/outlier_filtered/pointcloud',
-                            '/sensing/lidar/right/outlier_filtered/pointcloud'],
-            'output_frame': 'base_link',
+                             '/sensing/lidar/left/outlier_filtered/pointcloud',
+                             '/sensing/lidar/right/outlier_filtered/pointcloud'],
+            'output_frame': LaunchConfiguration('base_frame'),
             'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
-        }]
+        }],
+        extra_arguments=[{
+            'use_intra_process_comms': LaunchConfiguration('use_intra_process')
+        }],
     )
 
     passthrough_component = ComposableNode(
@@ -75,11 +78,14 @@ def launch_setup(context, *args, **kwargs):
             ('output', 'concatenated/pointcloud'),
         ],
         parameters=[{
-            'output_frame': 'base_link',
+            'output_frame': LaunchConfiguration('base_frame'),
             'min_z': vehicle_info['min_height_offset'],
             'max_z': vehicle_info['max_height_offset'],
             'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
-        }]
+        }],
+        extra_arguments=[{
+            'use_intra_process_comms': LaunchConfiguration('use_intra_process')
+        }],
     )
 
     # set crop box filter as a component
@@ -102,7 +108,10 @@ def launch_setup(context, *args, **kwargs):
             'max_z': vehicle_info['max_height_offset'],
             'negative': False,
             'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
-        }]
+        }],
+        extra_arguments=[{
+            'use_intra_process_comms': LaunchConfiguration('use_intra_process')
+        }],
     )
 
     ground_component = ComposableNode(
@@ -118,15 +127,18 @@ def launch_setup(context, *args, **kwargs):
             "local_max_slope": 10.0,
             "min_height_threshold": 0.2,
             'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
-        }]
+        }],
+        extra_arguments=[{
+            'use_intra_process_comms': LaunchConfiguration('use_intra_process')
+        }],
     )
 
     # set container to run all required components in the same process
     container = ComposableNodeContainer(
         name='pointcloud_preprocessor_container',
         namespace='pointcloud_preprocessor',
         package='rclcpp_components',
-        executable='component_container',
+        executable=LaunchConfiguration('container_executable'),
         composable_node_descriptions=[
             cropbox_component,
             ground_component,
@@ -141,13 +153,13 @@ def launch_setup(context, *args, **kwargs):
     concat_loader = LoadComposableNodes(
         composable_node_descriptions=[concat_component],
         target_container=container,
-        condition=launch.conditions.IfCondition(LaunchConfiguration('use_concat_filter')),
+        condition=IfCondition(LaunchConfiguration('use_concat_filter')),
     )
 
     passthrough_loader = LoadComposableNodes(
         composable_node_descriptions=[passthrough_component],
         target_container=container,
-        condition=launch.conditions.UnlessCondition(LaunchConfiguration('use_concat_filter')),
+        condition=UnlessCondition(LaunchConfiguration('use_concat_filter')),
     )
 
     return [container, concat_loader, passthrough_loader]
@@ -162,5 +174,22 @@ def add_launch_arg(name: str, default_value=None):
     add_launch_arg('base_frame', 'base_link')
     add_launch_arg('use_concat_filter', 'use_concat_filter')
     add_launch_arg('vehicle_param_file')
+    add_launch_arg('use_multithread', 'False')
+    add_launch_arg('use_intra_process', 'False')
+
+    set_container_executable = SetLaunchConfiguration(
+        'container_executable',
+        'component_container',
+        condition=UnlessCondition(LaunchConfiguration('use_multithread'))
+    )
+
+    set_container_mt_executable = SetLaunchConfiguration(
+        'container_executable',
+        'component_container_mt',
+        condition=IfCondition(LaunchConfiguration('use_multithread'))
+    )
 
-    return launch.LaunchDescription(launch_arguments + [OpaqueFunction(function=launch_setup)])
+    return launch.LaunchDescription(launch_arguments +
+                                    [set_container_executable,
+                                     set_container_mt_executable] +
+                                    [OpaqueFunction(function=launch_setup)])
diff --git a/sensing_launch/launch/aip_s1/lidar.launch.xml b/sensing_launch/launch/aip_s1/lidar.launch.xml
@@ -48,6 +48,8 @@
       <arg name="base_frame" value="base_link" />
       <arg name="use_concat_filter" value="$(var use_concat_filter)" />
       <arg name="vehicle_param_file" value="$(var vehicle_param_file)" />
+      <arg name="use_intra_process" value="false" />
+      <arg name="use_multithread" value="false" />
     </include>
 
   </group>

diff --git a/sensing_launch/launch/aip_s1/pointcloud_preprocessor.launch.py b/sensing_launch/launch/aip_s1/pointcloud_preprocessor.launch.py
@@ -1,4 +1,3 @@
-
 # Copyright 2020 Tier IV, Inc. All rights reserved.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
@@ -17,7 +16,7 @@
 import yaml
 
 import launch
-from launch.actions import DeclareLaunchArgument, OpaqueFunction
+from launch.actions import DeclareLaunchArgument, OpaqueFunction, SetLaunchConfiguration
 from launch.conditions import IfCondition, UnlessCondition
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import ComposableNodeContainer, LoadComposableNodes
@@ -59,11 +58,14 @@ def launch_setup(context, *args, **kwargs):
         remappings=[('output', 'concatenated/pointcloud')],
         parameters=[{
             'input_topics': ['/sensing/lidar/top/outlier_filtered/pointcloud',
-                            '/sensing/lidar/left/outlier_filtered/pointcloud',
-                            '/sensing/lidar/right/outlier_filtered/pointcloud'],
-            'output_frame': 'base_link',
+                             '/sensing/lidar/left/outlier_filtered/pointcloud',
+                             '/sensing/lidar/right/outlier_filtered/pointcloud'],
+            'output_frame': LaunchConfiguration('base_frame'),
             'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
-        }]
+        }],
+        extra_arguments=[{
+            'use_intra_process_comms': LaunchConfiguration('use_intra_process')
+        }],
     )
 
     passthrough_component = ComposableNode(
@@ -75,11 +77,14 @@ def launch_setup(context, *args, **kwargs):
             ('output', 'concatenated/pointcloud'),
         ],
         parameters=[{
-            'output_frame': 'base_link',
+            'output_frame': LaunchConfiguration('base_frame'),
             'min_z': vehicle_info['min_height_offset'],
             'max_z': vehicle_info['max_height_offset'],
             'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
-        }]
+        }],
+        extra_arguments=[{
+            'use_intra_process_comms': LaunchConfiguration('use_intra_process')
+        }],
     )
 
     # set crop box filter as a component
@@ -102,7 +107,10 @@ def launch_setup(context, *args, **kwargs):
             'max_z': vehicle_info['max_height_offset'],
             'negative': False,
             'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
-        }]
+        }],
+        extra_arguments=[{
+            'use_intra_process_comms': LaunchConfiguration('use_intra_process')
+        }],
     )
 
     ground_component = ComposableNode(
@@ -118,15 +126,18 @@ def launch_setup(context, *args, **kwargs):
             "local_max_slope": 10.0,
             "min_height_threshold": 0.2,
             'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
-        }]
+        }],
+        extra_arguments=[{
+            'use_intra_process_comms': LaunchConfiguration('use_intra_process')
+        }],
     )
 
     # set container to run all required components in the same process
     container = ComposableNodeContainer(
         name='pointcloud_preprocessor_container',
         namespace='pointcloud_preprocessor',
         package='rclcpp_components',
-        executable='component_container',
+        executable=LaunchConfiguration('container_executable'),
         composable_node_descriptions=[
             cropbox_component,
             ground_component,
@@ -141,13 +152,13 @@ def launch_setup(context, *args, **kwargs):
     concat_loader = LoadComposableNodes(
         composable_node_descriptions=[concat_component],
         target_container=container,
-        condition=launch.conditions.IfCondition(LaunchConfiguration('use_concat_filter')),
+        condition=IfCondition(LaunchConfiguration('use_concat_filter')),
     )
 
     passthrough_loader = LoadComposableNodes(
         composable_node_descriptions=[passthrough_component],
         target_container=container,
-        condition=launch.conditions.UnlessCondition(LaunchConfiguration('use_concat_filter')),
+        condition=UnlessCondition(LaunchConfiguration('use_concat_filter')),
     )
 
     return [container, concat_loader, passthrough_loader]
@@ -162,5 +173,22 @@ def add_launch_arg(name: str, default_value=None):
     add_launch_arg('base_frame', 'base_link')
     add_launch_arg('use_concat_filter', 'use_concat_filter')
     add_launch_arg('vehicle_param_file')
+    add_launch_arg('use_multithread', 'False')
+    add_launch_arg('use_intra_process', 'False')
+
+    set_container_executable = SetLaunchConfiguration(
+        'container_executable',
+        'component_container',
+        condition=UnlessCondition(LaunchConfiguration('use_multithread'))
+    )
+
+    set_container_mt_executable = SetLaunchConfiguration(
+        'container_executable',
+        'component_container_mt',
+        condition=IfCondition(LaunchConfiguration('use_multithread'))
+    )
 
-    return launch.LaunchDescription(launch_arguments + [OpaqueFunction(function=launch_setup)])
+    return launch.LaunchDescription(launch_arguments +
+                                    [set_container_executable,
+                                     set_container_mt_executable] +
+                                    [OpaqueFunction(function=launch_setup)])
diff --git a/sensing_launch/launch/aip_x1/lidar.launch.xml b/sensing_launch/launch/aip_x1/lidar.launch.xml
@@ -60,6 +60,8 @@
       <arg name="use_concat_filter" value="$(var use_concat_filter)" />
       <arg name="use_radius_search" value="$(var use_radius_search)" />
       <arg name="vehicle_param_file" value="$(var vehicle_param_file)" />
+      <arg name="use_intra_process" value="false" />
+      <arg name="use_multithread" value="false" />
     </include>
 
   </group>