Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

feat: always separate lidar preprocessing from pointcloud_container #796

Merged
merged 14 commits into from
Jan 19, 2024
Merged

feat: always separate lidar preprocessing from pointcloud_container #796

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
14 commits
Select commit Hold shift + click to select a range
be87d4f
feat!: replace use_pointcloud_container
kminoda Jan 16, 2024
13e9302
change default value
kminoda Jan 16, 2024
13b8f94
remove from planning
kminoda Jan 16, 2024
02f7260
revert: revert change in planning.launch
kminoda Jan 16, 2024
24dbe62
revert: revert rename of use_pointcloud_container
kminoda Jan 16, 2024
39b0664
revert: revert pointcloud_container launch
kminoda Jan 16, 2024
71d04db
style(pre-commit): autofix
pre-commit-ci[bot] Jan 16, 2024
1f9687b
feat: move glog to pointcloud_container.launch.py
kminoda Jan 16, 2024
3c4ce5c
revert: revert unnecessary change
kminoda Jan 16, 2024
2005df7
revert: revert glog porting
kminoda Jan 16, 2024
99cf1a9
Merge remote-tracking branch 'origin' into feat/replace_use_pointclou…
kminoda Jan 16, 2024
457a32d
fix: fix comment in localization launch
kminoda Jan 17, 2024
179b36e
style(pre-commit): autofix
pre-commit-ci[bot] Jan 17, 2024
04ee9e5
remove pointcloud_container_name from localization launcher
kminoda Jan 18, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
8 changes: 6 additions & 2 deletions autoware_launch/launch/components/tier4_localization_component.launch.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -4,15 +4,19 @@
<arg name="pose_source" default="ndt" description="select pose_estimator: ndt, yabloc, eagleye"/>
<arg name="twist_source" default="gyro_odom" description="select twist_estimator. gyro_odom, eagleye"/>
<arg name="input_pointcloud" default="/sensing/lidar/top/pointcloud" description="The topic will be used in the localization util module"/>
<arg
name="lidar_container_name"
default="/sensing/lidar/top/pointcloud_preprocessor/pointcloud_container"
description="The target container to which lidar preprocessing nodes in localization be attached"
/>

<group>
<include file="$(find-pkg-share tier4_localization_launch)/launch/localization.launch.xml">
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
<arg name="pose_source" value="$(var pose_source)"/>
<arg name="twist_source" value="$(var twist_source)"/>
<arg name="system_run_mode" value="$(var system_run_mode)"/>
<arg name="input_pointcloud" value="$(var input_pointcloud)"/>
<arg name="lidar_container_name" value="$(var lidar_container_name)"/>

<!-- parameter paths for common -->
<arg name="crop_box_filter_measurement_range_param_path" value="$(var loc_config_path)/crop_box_filter_measurement_range.param.yaml"/>
Expand Down
1 change: 0 additions & 1 deletion autoware_launch/launch/components/tier4_perception_component.launch.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,6 @@
<include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
<arg name="mode" value="$(var perception_mode)"/>
<arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
<arg name="enable_fine_detection" value="$(var traffic_light_recognition/enable_fine_detection)"/>
<arg name="occupancy_grid_map_method" value="$(var occupancy_grid_map_method)"/>
Expand Down
Loading