feat(aip_x2_gen2_launch): update launch to run new concatenate node (#…

…386) * feat(aip_x2_gen2_launch): update launch to run new concatenate node Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * change output topic name Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * update param file for x2 gen2 Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * change `is_motion_compensated` and `publish_synchronized_pointcloud` to true Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * update param Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * Update aip_x2_gen2_launch/config/concatenate_and_time_sync_node.param.yaml --------- Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> Co-authored-by: Yi-Hsiang Fang (Vivid) <146902905+vividf@users.noreply.github.com>
tier4 · Feb 5, 2025 · 22e633c · 22e633c
1 parent 52cec87
commit 22e633c
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Showing 3 changed files with 54 additions and 21 deletions.
diff --git a/aip_x2_gen2_launch/config/concatenate_and_time_sync_node.param.yaml b/aip_x2_gen2_launch/config/concatenate_and_time_sync_node.param.yaml
@@ -0,0 +1,28 @@
+/**:
+  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: true
+    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/rear_upper/pointcloud_before_sync", # 0.047
+                    "/sensing/lidar/rear_lower/pointcloud_before_sync", # 0.048
+                    "/sensing/lidar/left_upper/pointcloud_before_sync", # 0.048
+                    "/sensing/lidar/left_lower/pointcloud_before_sync", # 0.047
+                    "/sensing/lidar/front_upper/pointcloud_before_sync", # 0.072
+                    "/sensing/lidar/front_lower/pointcloud_before_sync", # 0.072
+                    "/sensing/lidar/right_upper/pointcloud_before_sync", # 0.073
+                    "/sensing/lidar/right_lower/pointcloud_before_sync" # 0.097
+                ]
+    output_frame: base_link
+    matching_strategy:
+      type: advanced
+      lidar_timestamp_offsets: [0.0, 0.001, 0.001, 0.0, 0.025, 0.025, 0.026, 0.050]
+      lidar_timestamp_noise_window: [0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01]
diff --git a/aip_x2_gen2_launch/launch/nebula_node_container.launch.py b/aip_x2_gen2_launch/launch/nebula_node_container.launch.py
@@ -180,7 +180,7 @@ def str2vector(string):
         name="ring_outlier_filter",
         remappings=[
             ("input", "rectified/pointcloud_ex"),
-            ("output", "pointcloud"),
+            ("output", "pointcloud_before_sync"),
         ],
         parameters=[ring_outlier_filter_node_param, ring_outlier_output_frame],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
@@ -192,7 +192,7 @@ def str2vector(string):
         name="dual_return_filter",
         remappings=[
             ("input", "rectified/pointcloud_ex"),
-            ("output", "pointcloud"),
+            ("output", "pointcloud_before_sync"),
         ],
         parameters=[
             {

diff --git a/aip_x2_gen2_launch/launch/pointcloud_preprocessor.launch.py b/aip_x2_gen2_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
@@ -22,9 +24,18 @@
 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",
@@ -34,30 +45,15 @@ def launch_setup(context, *args, **kwargs):
             ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
             ("output", "concatenated/pointcloud"),
         ],
-        parameters=[
-            {
-                "input_topics": [
-                    "/sensing/lidar/front_upper/pointcloud",
-                    "/sensing/lidar/front_lower/pointcloud",
-                    "/sensing/lidar/left_upper/pointcloud",
-                    "/sensing/lidar/left_lower/pointcloud",
-                    "/sensing/lidar/right_upper/pointcloud",
-                    "/sensing/lidar/right_lower/pointcloud",
-                    "/sensing/lidar/rear_upper/pointcloud",
-                    "/sensing/lidar/rear_lower/pointcloud",
-                ],
-                "input_offset": [0.005, 0.025, 0.050, 0.005, 0.050, 0.005, 0.005, 0.025],
-                "timeout_sec": 0.075,
-                "output_frame": LaunchConfiguration("base_frame"),
-                "input_twist_topic_type": "twist",
-            }
-        ],
+        parameters=[concatenate_and_time_sync_node_param],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )
 
+    # load concat or passthrough filter
     concat_loader = LoadComposableNodes(
         composable_node_descriptions=[concat_component],
         target_container=LaunchConfiguration("pointcloud_container_name"),
+        condition=IfCondition(LaunchConfiguration("use_concat_filter")),
     )
 
     return [concat_loader]
@@ -69,10 +65,19 @@ 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")
+    aip_x2_gen2_launch_share_dir = get_package_share_directory("aip_x2_gen2_launch")
+
     add_launch_arg("use_multithread", "True")
     add_launch_arg("use_intra_process", "True")
     add_launch_arg("pointcloud_container_name", "pointcloud_container")
+    add_launch_arg(
+        "concatenate_and_time_sync_node_param_path",
+        os.path.join(
+            aip_x2_gen2_launch_share_dir,
+            "config",
+            "concatenate_and_time_sync_node.param.yaml",
+        ),
+    )
 
     set_container_executable = SetLaunchConfiguration(
         "container_executable",