refactor(autoware_pointcloud_preprocessor): rework crop box parameters

sensing/autoware_pointcloud_preprocessor/CMakeLists.txt

@@ -65,7 +65,7 @@ ament_auto_add_library(pointcloud_preprocessor_filter SHARED
   src/concatenate_data/concatenate_and_time_sync_nodelet.cpp
   src/concatenate_data/concatenate_pointclouds.cpp
   src/time_synchronizer/time_synchronizer_nodelet.cpp
-  src/crop_box_filter/crop_box_filter_nodelet.cpp
+  src/crop_box_filter/crop_box_filter_node.cpp
   src/downsample_filter/voxel_grid_downsample_filter_nodelet.cpp
   src/downsample_filter/random_downsample_filter_nodelet.cpp
   src/downsample_filter/approximate_downsample_filter_nodelet.cpp

sensing/autoware_pointcloud_preprocessor/config/crop_box_filter_node.param.yaml

@@ -0,0 +1,9 @@
+/**:
+  ros__parameters:
+    min_x: -1.0
+    min_y: -1.0
+    min_z: -1.0
+    max_x: 1.0
+    max_y: 1.0
+    max_z: 1.0
+    negative: false

sensing/autoware_pointcloud_preprocessor/config/filter.param.yaml

@@ -0,0 +1,8 @@
+/**:
+  ros__parameters:
+    input_frame: ""
+    output_frame: ""
+    max_queue_size: 5
+    use_indices: false
+    latched_indices: false
+    approximate_sync: false

sensing/autoware_pointcloud_preprocessor/docs/crop-box-filter.md

@@ -20,14 +20,7 @@ This implementation inherit `autoware::pointcloud_preprocessor::Filter` class, p
 
 ### Core Parameters
 
-| Name    | Type   | Default Value | Description                               |
-| ------- | ------ | ------------- | ----------------------------------------- |
-| `min_x` | double | -1.0          | x-coordinate minimum value for crop range |
-| `max_x` | double | 1.0           | x-coordinate maximum value for crop range |
-| `min_y` | double | -1.0          | y-coordinate minimum value for crop range |
-| `max_y` | double | 1.0           | y-coordinate maximum value for crop range |
-| `min_z` | double | -1.0          | z-coordinate minimum value for crop range |
-| `max_z` | double | 1.0           | z-coordinate maximum value for crop range |
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/crop_box_filter_node.schema.json") }}
 
 ## Assumptions / Known limits
 

sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/crop_box_filter/crop_box_filter_nodelet.hpp → sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/crop_box_filter/crop_box_filter_node.hpp

@@ -50,8 +50,8 @@
  *
  */
 
-#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__CROP_BOX_FILTER__CROP_BOX_FILTER_NODELET_HPP_
-#define AUTOWARE__POINTCLOUD_PREPROCESSOR__CROP_BOX_FILTER__CROP_BOX_FILTER_NODELET_HPP_
+#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__CROP_BOX_FILTER__CROP_BOX_FILTER_NODE_HPP_
+#define AUTOWARE__POINTCLOUD_PREPROCESSOR__CROP_BOX_FILTER__CROP_BOX_FILTER_NODE_HPP_
 
 #include "autoware/pointcloud_preprocessor/filter.hpp"
 #include "autoware/pointcloud_preprocessor/transform_info.hpp"
@@ -104,4 +104,4 @@ class CropBoxFilterComponent : public autoware::pointcloud_preprocessor::Filter
 };
 }  // namespace autoware::pointcloud_preprocessor
 
-#endif  // AUTOWARE__POINTCLOUD_PREPROCESSOR__CROP_BOX_FILTER__CROP_BOX_FILTER_NODELET_HPP_
+#endif  // AUTOWARE__POINTCLOUD_PREPROCESSOR__CROP_BOX_FILTER__CROP_BOX_FILTER_NODE_HPP_

sensing/autoware_pointcloud_preprocessor/launch/crop_box_filter_node.launch.xml

@@ -0,0 +1,16 @@
+<launch>
+  <arg name="input_topic_name" default="/sensing/lidar/top/pointcloud_raw_ex"/>
+  <arg name="output_topic_name" default="/sensing/lidar/top/self_cropped/pointcloud_ex"/>
+  <arg name="input_frame" default="base_link"/>
+  <arg name="output_frame" default="base_link"/>
+  <arg name="filter_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/filter.param.yaml"/>
+  <arg name="crop_box_filter_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/crop_box_filter_node.param.yaml"/>
+  <node pkg="autoware_pointcloud_preprocessor" exec="crop_box_filter_node" name="crop_box_filter_node">
+    <param from="$(var crop_box_filter_param_file)"/>
+    <param from="$(var filter_param_file)"/>
+    <remap from="input" to="$(var input_topic_name)"/>
+    <remap from="output" to="$(var output_topic_name)"/>
+    <param name="input_frame" value="$(var input_frame)"/>
+    <param name="output_frame" value="$(var output_frame)"/>
+  </node>
+</launch>

sensing/autoware_pointcloud_preprocessor/schema/crop_box_filter_node.schema.json

@@ -0,0 +1,63 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Crop Box Filter Node",
+  "type": "object",
+  "definitions": {
+    "crop_box_filter": {
+      "type": "object",
+      "properties": {
+        "min_x": {
+          "type": "number",
+          "description": "x-coordinate minimum value for crop range",
+          "default": "-1.0"
+        },
+        "min_y": {
+          "type": "number",
+          "description": "y-coordinate minimum value for crop range",
+          "default": "-1.0"
+        },
+        "min_z": {
+          "type": "number",
+          "description": "z-coordinate minimum value for crop range",
+          "default": "-1.0"
+        },
+        "max_x": {
+          "type": "number",
+          "description": "x-coordinate maximum value for crop range",
+          "default": "1.0"
+        },
+        "max_y": {
+          "type": "number",
+          "description": "y-coordinate maximum value for crop range",
+          "default": "1.0"
+        },
+        "max_z": {
+          "type": "number",
+          "description": "z-coordinate maximum value for crop range",
+          "default": "1.0"
+        },
+        "negative": {
+          "type": "boolean",
+          "description": "if negative then choose the point outside the box",
+          "default": "false"
+        }
+      },
+      "required": ["min_x", "min_y", "min_z", "max_x", "max_y", "max_z", "negative"],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/crop_box_filter"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}

sensing/autoware_pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_nodelet.cpp → sensing/autoware_pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_node.cpp

@@ -1,4 +1,4 @@
-// Copyright 2020 Tier IV, Inc.
+// Copyright 2024 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.
@@ -49,7 +49,7 @@
  *
  */
 
-#include "autoware/pointcloud_preprocessor/crop_box_filter/crop_box_filter_nodelet.hpp"
+#include "autoware/pointcloud_preprocessor/crop_box_filter/crop_box_filter_node.hpp"
 
 #include <sensor_msgs/point_cloud2_iterator.hpp>
 
@@ -73,13 +73,13 @@ CropBoxFilterComponent::CropBoxFilterComponent(const rclcpp::NodeOptions & optio
   // set initial parameters
   {
     auto & p = param_;
-    p.min_x = static_cast<float>(declare_parameter("min_x", -1.0));
-    p.min_y = static_cast<float>(declare_parameter("min_y", -1.0));
-    p.min_z = static_cast<float>(declare_parameter("min_z", -1.0));
-    p.max_x = static_cast<float>(declare_parameter("max_x", 1.0));
-    p.max_y = static_cast<float>(declare_parameter("max_y", 1.0));
-    p.max_z = static_cast<float>(declare_parameter("max_z", 1.0));
-    p.negative = static_cast<bool>(declare_parameter("negative", false));
+    p.min_x = declare_parameter<float>("min_x");
+    p.min_y = declare_parameter<float>("min_y");
+    p.min_z = declare_parameter<float>("min_z");
+    p.max_x = declare_parameter<float>("max_x");
+    p.max_y = declare_parameter<float>("max_y");
+    p.max_z = declare_parameter<float>("max_z");
+    p.negative = declare_parameter<bool>("negative");
     if (tf_input_frame_.empty()) {
       throw std::invalid_argument("Crop box requires non-empty input_frame");
     }