chore: bump version to 0.41.1 (#23)

autowarefoundation · Feb 13, 2025 · d5da824 · d5da824
2 parents c53cdc4 + 2407430
commit d5da824
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Showing 9 changed files with 63 additions and 19 deletions.
diff --git a/awsim_labs_sensor_kit_description/CHANGELOG.rst b/awsim_labs_sensor_kit_description/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package awsim_labs_sensor_kit_description
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.41.1 (2025-02-13)
+-------------------
+
 0.41.0 (2025-02-12)
 -------------------
 

diff --git a/awsim_labs_sensor_kit_description/package.xml b/awsim_labs_sensor_kit_description/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>awsim_labs_sensor_kit_description</name>
-  <version>0.41.0</version>
+  <version>0.41.1</version>
   <description>The awsim_labs_sensor_kit_description package</description>
   <maintainer email="piotr.jaroszek@robotec.ai">Piotr Jaroszek</maintainer>
   <license>Apache License 2.0</license>

diff --git a/awsim_labs_sensor_kit_launch/CHANGELOG.rst b/awsim_labs_sensor_kit_launch/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package awsim_labs_sensor_kit_launch
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.41.1 (2025-02-13)
+-------------------
+* feat(awsim_labs_sensor_kit_launch): awsim lab load concatenate node parameters (`#9 <https://github.com/autowarefoundation/awsim_labs_sensor_kit_launch/issues/9>`_)
+* Contributors: Yi-Hsiang Fang (Vivid)
+
 0.41.0 (2025-02-12)
 -------------------
 * Merge remote-tracking branch 'origin/main' into HEAD

diff --git a/awsim_labs_sensor_kit_launch/config/concatenate_and_time_sync_node.param.yaml b/awsim_labs_sensor_kit_launch/config/concatenate_and_time_sync_node.param.yaml
@@ -0,0 +1,23 @@
+/**:
+  ros__parameters:
+    debug_mode: false
+    has_static_tf_only: false
+    rosbag_length: 10.0
+    maximum_queue_size: 5
+    timeout_sec: 0.2
+    is_motion_compensated: false
+    publish_synchronized_pointcloud: true
+    keep_input_frame_in_synchronized_pointcloud: true
+    publish_previous_but_late_pointcloud: false
+    synchronized_pointcloud_postfix: pointcloud
+    input_twist_topic_type: twist
+    input_topics: [
+                    "/sensing/lidar/right/pointcloud_before_sync", # 0.05
+                    "/sensing/lidar/top/pointcloud_before_sync", # 0.05
+                    "/sensing/lidar/left/pointcloud_before_sync", # 0.05
+                ]
+    output_frame: base_link
+    matching_strategy:
+          type: advanced
+          lidar_timestamp_offsets: [0.0, 0.0, 0.0]
+          lidar_timestamp_noise_window: [0.01, 0.01, 0.01]
diff --git a/awsim_labs_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py b/awsim_labs_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py
@@ -12,7 +12,9 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import os
 
+from ament_index_python.packages import get_package_share_directory
 import launch
 from launch.actions import DeclareLaunchArgument
 from launch.actions import OpaqueFunction
@@ -22,10 +24,17 @@
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import LoadComposableNodes
 from launch_ros.descriptions import ComposableNode
+from launch_ros.parameter_descriptions import ParameterFile
 
 
 def launch_setup(context, *args, **kwargs):
-
+    # concatenate node parameters
+    concatenate_and_time_sync_node_param = ParameterFile(
+        param_file=LaunchConfiguration("concatenate_and_time_sync_node_param_path").perform(
+            context
+        ),
+        allow_substs=True,
+    )
     # set concat filter as a component
     concat_component = ComposableNode(
         package="autoware_pointcloud_preprocessor",
@@ -35,19 +44,7 @@ def launch_setup(context, *args, **kwargs):
             ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
             ("output", "concatenated/pointcloud"),
         ],
-        parameters=[
-            {
-                "input_topics": [
-                    "/sensing/lidar/top/pointcloud_before_sync",
-                    "/sensing/lidar/left/pointcloud_before_sync",
-                    "/sensing/lidar/right/pointcloud_before_sync",
-                ],
-                "output_frame": LaunchConfiguration("base_frame"),
-                "timeout_sec": 0.01,
-                "input_twist_topic_type": "twist",
-                "publish_synchronized_pointcloud": True,
-            }
-        ],
+        parameters=[concatenate_and_time_sync_node_param],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )
 
@@ -68,10 +65,21 @@ def generate_launch_description():
     def add_launch_arg(name: str, default_value=None):
         launch_arguments.append(DeclareLaunchArgument(name, default_value=default_value))
 
-    add_launch_arg("base_frame", "base_link")
+    awsim_labs_sensor_kit_launch_share_dir = get_package_share_directory(
+        "awsim_labs_sensor_kit_launch"
+    )
+
     add_launch_arg("use_multithread", "False")
     add_launch_arg("use_intra_process", "False")
     add_launch_arg("pointcloud_container_name", "pointcloud_container")
+    add_launch_arg(
+        "concatenate_and_time_sync_node_param_path",
+        os.path.join(
+            awsim_labs_sensor_kit_launch_share_dir,
+            "config",
+            "concatenate_and_time_sync_node.param.yaml",
+        ),
+    )
 
     set_container_executable = SetLaunchConfiguration(
         "container_executable",

diff --git a/awsim_labs_sensor_kit_launch/package.xml b/awsim_labs_sensor_kit_launch/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>awsim_labs_sensor_kit_launch</name>
-  <version>0.41.0</version>
+  <version>0.41.1</version>
   <description>The awsim_labs_sensor_kit_launch package</description>
   <maintainer email="piotr.jaroszek@robotec.ai">Piotr Jaroszek</maintainer>
   <license>Apache License 2.0</license>

diff --git a/common_awsim_labs_sensor_launch/CHANGELOG.rst b/common_awsim_labs_sensor_launch/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package common_awsim_labs_sensor_launch
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.41.1 (2025-02-13)
+-------------------
+* fix(common_awsim_labs_sensor_launch): update the glog plugin namespace (`#22 <https://github.com/autowarefoundation/awsim_labs_sensor_kit_launch/issues/22>`_)
+* Contributors: Mete Fatih Cırıt
+
 0.41.0 (2025-02-12)
 -------------------
 * Merge remote-tracking branch 'origin/main' into HEAD

diff --git a/common_awsim_labs_sensor_launch/launch/velodyne_node_container.launch.py b/common_awsim_labs_sensor_launch/launch/velodyne_node_container.launch.py
@@ -74,7 +74,7 @@ def create_parameter_dict(*args):
     nodes.append(
         ComposableNode(
             package="autoware_glog_component",
-            plugin="GlogComponent",
+            plugin="autoware::glog_component::GlogComponent",
             name="glog_component",
         )
     )

diff --git a/common_awsim_labs_sensor_launch/package.xml b/common_awsim_labs_sensor_launch/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>common_awsim_labs_sensor_launch</name>
-  <version>0.41.0</version>
+  <version>0.41.1</version>
   <description>The common_sensor_launch package</description>
   <maintainer email="piotr.jaroszek@robotec.ai">Piotr Jaroszek</maintainer>
   <license>Apache License 2.0</license>