-
Notifications
You must be signed in to change notification settings - Fork 682
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
feat(pointcloud_preprocessor): separate concatenate filter node and o…
…utput synchronized pointcloud (#3312) * feat: fix concatenate pc compensation order Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * feat: add transformed raw pc output to concat func Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * fix: concat pc to sync with oldest time stamp Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * feat: add time sync node component Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * refactor: time synchronizer class Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * feat: add pc concatenate node Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * rename existing concat node file Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * update concat_node launch to choose two methods Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * update readme usage explanation Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * add parameter to control publisher of the synched pointclouds Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * Fix readme for pc concatenation Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> --------- Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
- Loading branch information
Showing
9 changed files
with
1,573 additions
and
61 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
181 changes: 181 additions & 0 deletions
181
...preprocessor/include/pointcloud_preprocessor/concatenate_data/concatenate_pointclouds.hpp
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,181 @@ | ||
| // Copyright 2023 TIER IV, Inc. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
|
|
||
| /* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Copyright (c) 2009, Willow Garage, Inc. | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions | ||
| * are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above | ||
| * copyright notice, this list of conditions and the following | ||
| * disclaimer in the documentation and/or other materials provided | ||
| * with the distribution. | ||
| * * Neither the name of Willow Garage, Inc. nor the names of its | ||
| * contributors may be used to endorse or promote products derived | ||
| * from this software without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| * | ||
| * $Id: concatenate_data.cpp 35231 2011-01-14 05:33:20Z rusu $ | ||
| * | ||
| */ | ||
|
|
||
| #ifndef POINTCLOUD_PREPROCESSOR__CONCATENATE_DATA__CONCATENATE_POINTCLOUDS_HPP_ | ||
| #define POINTCLOUD_PREPROCESSOR__CONCATENATE_DATA__CONCATENATE_POINTCLOUDS_HPP_ | ||
|
|
||
| #include <deque> | ||
| #include <map> | ||
| #include <memory> | ||
| #include <mutex> | ||
| #include <set> | ||
| #include <string> | ||
| #include <vector> | ||
|
|
||
| // ROS includes | ||
| #include "autoware_point_types/types.hpp" | ||
|
|
||
| #include <diagnostic_updater/diagnostic_updater.hpp> | ||
| #include <point_cloud_msg_wrapper/point_cloud_msg_wrapper.hpp> | ||
| #include <tier4_autoware_utils/ros/debug_publisher.hpp> | ||
| #include <tier4_autoware_utils/system/stop_watch.hpp> | ||
|
|
||
| #include <autoware_auto_vehicle_msgs/msg/velocity_report.hpp> | ||
| #include <diagnostic_msgs/msg/diagnostic_status.hpp> | ||
| #include <geometry_msgs/msg/twist_stamped.hpp> | ||
| #include <sensor_msgs/msg/point_cloud2.hpp> | ||
| #include <sensor_msgs/point_cloud2_iterator.hpp> | ||
| #include <tier4_debug_msgs/msg/int32_stamped.hpp> | ||
| #include <tier4_debug_msgs/msg/string_stamped.hpp> | ||
|
|
||
| #include <message_filters/pass_through.h> | ||
| #include <message_filters/subscriber.h> | ||
| #include <message_filters/sync_policies/approximate_time.h> | ||
| #include <message_filters/sync_policies/exact_time.h> | ||
| #include <message_filters/synchronizer.h> | ||
| #include <tf2_ros/buffer.h> | ||
| #include <tf2_ros/transform_listener.h> | ||
|
|
||
| namespace pointcloud_preprocessor | ||
| { | ||
| using autoware_point_types::PointXYZI; | ||
| using point_cloud_msg_wrapper::PointCloud2Modifier; | ||
| /** \brief @b PointCloudConcatenationComponent is a special form of data | ||
| * synchronizer: it listens for a set of input PointCloud messages on the same topic, | ||
| * checks their timestamps, and concatenates their fields together into a single | ||
| * PointCloud output message. | ||
| * \author Radu Bogdan Rusu | ||
| */ | ||
| class PointCloudConcatenationComponent : public rclcpp::Node | ||
| { | ||
| public: | ||
| typedef sensor_msgs::msg::PointCloud2 PointCloud2; | ||
|
|
||
| /** \brief constructor. */ | ||
| explicit PointCloudConcatenationComponent(const rclcpp::NodeOptions & node_options); | ||
|
|
||
| /** \brief constructor. | ||
| * \param queue_size the maximum queue size | ||
| */ | ||
| PointCloudConcatenationComponent(const rclcpp::NodeOptions & node_options, int queue_size); | ||
|
|
||
| /** \brief Empty destructor. */ | ||
| virtual ~PointCloudConcatenationComponent() {} | ||
|
|
||
| private: | ||
| /** \brief The output PointCloud publisher. */ | ||
| rclcpp::Publisher<PointCloud2>::SharedPtr pub_output_; | ||
| /** \brief Delay Compensated PointCloud publisher*/ | ||
| std::map<std::string, rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr> | ||
| transformed_raw_pc_publisher_map_; | ||
|
|
||
| /** \brief The maximum number of messages that we can store in the queue. */ | ||
| int maximum_queue_size_ = 3; | ||
|
|
||
| double timeout_sec_ = 0.1; | ||
|
|
||
| std::set<std::string> not_subscribed_topic_names_; | ||
|
|
||
| /** \brief A vector of subscriber. */ | ||
| std::vector<rclcpp::Subscription<PointCloud2>::SharedPtr> filters_; | ||
|
|
||
| rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::VelocityReport>::SharedPtr sub_twist_; | ||
|
|
||
| rclcpp::TimerBase::SharedPtr timer_; | ||
| diagnostic_updater::Updater updater_{this}; | ||
|
|
||
| /** \brief Output TF frame the concatenated points should be transformed to. */ | ||
| std::string output_frame_; | ||
|
|
||
| /** \brief Input point cloud topics. */ | ||
| // XmlRpc::XmlRpcValue input_topics_; | ||
| std::vector<std::string> input_topics_; | ||
|
|
||
| /** \brief TF listener object. */ | ||
| std::shared_ptr<tf2_ros::Buffer> tf2_buffer_; | ||
| std::shared_ptr<tf2_ros::TransformListener> tf2_listener_; | ||
|
|
||
| std::deque<geometry_msgs::msg::TwistStamped::ConstSharedPtr> twist_ptr_queue_; | ||
|
|
||
| std::map<std::string, sensor_msgs::msg::PointCloud2::ConstSharedPtr> cloud_stdmap_; | ||
| std::map<std::string, sensor_msgs::msg::PointCloud2::ConstSharedPtr> cloud_stdmap_tmp_; | ||
| std::mutex mutex_; | ||
|
|
||
| std::vector<double> input_offset_; | ||
| std::map<std::string, double> offset_map_; | ||
|
|
||
| void transformPointCloud(const PointCloud2::ConstSharedPtr & in, PointCloud2::SharedPtr & out); | ||
| void transformPointCloud( | ||
| const PointCloud2::ConstSharedPtr & in, PointCloud2::SharedPtr & out, | ||
| const std::string & target_frame); | ||
| void checkSyncStatus(); | ||
| void combineClouds(sensor_msgs::msg::PointCloud2::SharedPtr & concat_cloud_ptr); | ||
| void publish(); | ||
|
|
||
| void convertToXYZICloud( | ||
| const sensor_msgs::msg::PointCloud2::SharedPtr & input_ptr, | ||
| sensor_msgs::msg::PointCloud2::SharedPtr & output_ptr); | ||
| void setPeriod(const int64_t new_period); | ||
| void cloud_callback( | ||
| const sensor_msgs::msg::PointCloud2::ConstSharedPtr & input_ptr, | ||
| const std::string & topic_name); | ||
| void timer_callback(); | ||
|
|
||
| void checkConcatStatus(diagnostic_updater::DiagnosticStatusWrapper & stat); | ||
|
|
||
| /** \brief processing time publisher. **/ | ||
| std::unique_ptr<tier4_autoware_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_; | ||
| std::unique_ptr<tier4_autoware_utils::DebugPublisher> debug_publisher_; | ||
| }; | ||
|
|
||
| } // namespace pointcloud_preprocessor | ||
|
|
||
| #endif // POINTCLOUD_PREPROCESSOR__CONCATENATE_DATA__CONCATENATE_POINTCLOUDS_HPP_ |
Oops, something went wrong.