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feat(localization_launch): change argument structure in util.launch #270

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Apr 7, 2022
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feat(localization_launch): change argument structure in util.launch #270

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28 changes: 9 additions & 19 deletions localization_launch/launch/util/util.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -34,8 +34,8 @@ def load_composable_node_param(param_path):
plugin="pointcloud_preprocessor::CropBoxFilterComponent",
name="crop_box_filter_measurement_range",
remappings=[
("input", LaunchConfiguration("input_sensor_points_topic")),
("output", LaunchConfiguration("output_measurement_range_sensor_points_topic")),
("input", LaunchConfiguration("input/pointcloud")),
("output", "measurement_range/pointcloud"),
],
parameters=[
load_composable_node_param("crop_box_filter_measurement_range_param_path"),
Expand All @@ -47,8 +47,8 @@ def load_composable_node_param(param_path):
plugin="pointcloud_preprocessor::VoxelGridDownsampleFilterComponent",
name="voxel_grid_downsample_filter",
remappings=[
("input", LaunchConfiguration("output_measurement_range_sensor_points_topic")),
("output", LaunchConfiguration("output_voxel_grid_downsample_sensor_points_topic")),
("input", "measurement_range/pointcloud"),
("output", "voxel_grid_downsample/pointcloud"),
],
parameters=[load_composable_node_param("voxel_grid_downsample_filter_param_path")],
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
Expand All @@ -58,8 +58,8 @@ def load_composable_node_param(param_path):
plugin="pointcloud_preprocessor::RandomDownsampleFilterComponent",
name="random_downsample_filter",
remappings=[
("input", LaunchConfiguration("output_voxel_grid_downsample_sensor_points_topic")),
("output", LaunchConfiguration("output_downsample_sensor_points_topic")),
("input", "voxel_grid_downsample/pointcloud"),
("output", LaunchConfiguration("output/pointcloud")),
],
parameters=[load_composable_node_param("random_downsample_filter_param_path")],
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
Expand Down Expand Up @@ -112,24 +112,14 @@ def add_launch_arg(name: str, default_value=None, description=None):
"container name",
)
add_launch_arg(
"input_sensor_points_topic",
"input/pointcloud",
"/sensing/lidar/top/rectified/pointcloud",
"input topic name for raw pointcloud",
)
add_launch_arg(
"output_measurement_range_sensor_points_topic",
"measurement_range/pointcloud",
"output topic name for crop box filter",
)
add_launch_arg(
"output_voxel_grid_downsample_sensor_points_topic",
"voxel_grid_downsample/pointcloud",
"output topic name for voxel grid downsample filter",
)
add_launch_arg(
"output_downsample_sensor_points_topic",
"output/pointcloud",
"downsample/pointcloud",
"output topic name for downsample filter. this is final output",
"final output topic name",
)

return launch.LaunchDescription(launch_arguments + [OpaqueFunction(function=launch_setup)])
13 changes: 8 additions & 5 deletions localization_launch/launch/util/util.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -2,10 +2,8 @@
<launch>

<!-- Topics -->
<arg name="input_sensor_points_topic" default="/sensing/lidar/top/rectified/pointcloud" description="input topic name for raw pointcloud"/>
<arg name="output_measurement_range_sensor_points_topic" default="measurement_range/pointcloud" description="output topic name for crop box filter"/>
<arg name="output_voxel_grid_downsample_sensor_points_topic" default="voxel_grid_downsample/pointcloud" description="output topic name for voxel grid downsample filter"/>
<arg name="output_downsample_sensor_points_topic" default="downsample/pointcloud" description="output topic name for downsample filter. this is final output"/>
<arg name="input/pointcloud" default="/sensing/lidar/top/rectified/pointcloud" description="input topic name"/>
<arg name="output/pointcloud" default="downsample/pointcloud" description="final output topic name"/>

<!-- container -->
<arg name="container" default="/sensing/lidar/top/pointcloud_preprocessor/velodyne_node_container" description="container name"/>
Expand All @@ -17,6 +15,11 @@
<include file="$(find-pkg-share pose_initializer)/launch/pose_initializer.launch.xml" />

<!-- util -->
<include file="$(find-pkg-share localization_launch)/launch/util/util.launch.py" />
<include file="$(find-pkg-share localization_launch)/launch/util/util.launch.py">
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
<arg name="output/pointcloud" value="$(var output/pointcloud)"/>
<arg name="container" value="$(var container)"/>
<arg name="use_intra_process" value="$(var use_intra_process)"/>
</include>

</launch>