feat(pointcloud_preprocessor): separate concatenate filter node and output synchronized pointcloud

[YoshiRi]

Description

Purpose

• Divide concatenate_data component based on its two functions:
  • synchronize pointcloud topics and compensate time stamp difference with twist information
  • concatenate pointclouds and convert its frame to base_link
• Publish synchronized raw pointclouds which are needed for postprocessing, like occupancy grid map generation

Changes

• separate concatenate_data_node component into time_synchronizer_node and concatenate_pointclouds_node
• use separated process in the preprocessor.launch.py
• temporary keep concatenate_data_node for backward compatibility

Changes in conventional node

• appearance
  • Keep the conventional node for temporary backward compatibility
  • Changed conventional node name to avoid confusion
• processing algorithm
  • Separate transform compensation and pointclouds merging

current	after

Related links

• TIER IV internals link: JIRA Tickets

Tests performed

Test performed with sample-rosbag in the logging simulator tutorials.

method	mean processing time [ms]	min	max
original	6.262653	2.787000	10.513000
after separated	7.122316	5.093000	12.041000

method	processing time
original
time_synchronizer only
concatenator only
total computation time after changed

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[YoshiRi]

Next TODO:

• Update README
• Update Node diagram (depend on user choices)
• Update sensor_kit launch (depend on projects)

[codecov]

Codecov Report

Patch coverage: 0.14% and project coverage change: -0.80% ⚠️

Comparison is base (04ea73c) 15.03% compared to head (2d7986a) 14.23%.

Additional details and impacted files

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Flag	Coverage Δ		*Carryforward flag
differential	6.77% <0.00%> (?)
total	14.33% <0.59%> (-0.70%)	⬇️	Carriedforward from a5d1407

*This pull request uses carry forward flags. Click here to find out more.

Files Changed	Coverage Δ
...tion/distance_based_compare_map_filter_nodelet.hpp	0.00% <0.00%> (ø)
...l_based_approximate_compare_map_filter_nodelet.hpp	0.00% <0.00%> (ø)
...oxel_distance_based_compare_map_filter_nodelet.hpp	0.00% <0.00%> (ø)
...compare_map_segmentation/voxel_grid_map_loader.hpp	0.00% <0.00%> (ø)
...l_based_approximate_compare_map_filter_nodelet.cpp	0.00% <0.00%> (ø)
...ion/src/voxel_based_compare_map_filter_nodelet.cpp	0.00% <0.00%> (ø)
...oxel_distance_based_compare_map_filter_nodelet.cpp	0.00% <0.00%> (ø)
...are_map_segmentation/src/voxel_grid_map_loader.cpp	0.00% <0.00%> (ø)
...ule/dynamic_avoidance/dynamic_avoidance_module.hpp	0.00% <0.00%> (ø)
...th_planner/scene_module/scene_module_interface.hpp	16.53% <0.00%> (+0.14%)	⬆️
... and 11 more

... and 319 files with indirect coverage changes

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[yukkysaito]

If the nodes are separated, I think it is better to use concatenate_node and time_synchronizer_node for name? (not concatenate_and_time_sync_nodelet)

Also, If you have some TODO, can you change to Draft?

[miursh]

@YoshiRi
One question, the concatenate algorithm is exactly the same as current one?

[YoshiRi]

@YoshiRi One question, the concatenate algorithm is exactly the same as current one?

As for the pointcloud synchronization process with buffer and sub-buffer, the answer is Yes.

Other changes in the conventional nodes is like:

• changes about publish synched pointclouds
• separate concat process and time sync process to get transformed pointcloud

[miursh]

LGTM