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chore(ground_segmentation): rename topic and node #6536

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Mar 5, 2024
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chore(ground_segmentation): rename topic and node #6536

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015bc06
chore(ground_segmentation): rename topic and node
badai-nguyen Mar 4, 2024
3a0848f
docs: update synchronized_grid_map_fusion
badai-nguyen Mar 4, 2024
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4 changes: 2 additions & 2 deletions ...ion_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -40,7 +40,7 @@ def __init__(self, context):
self.ground_segmentation_param = yaml.safe_load(f)["/**"]["ros__parameters"]

self.single_frame_obstacle_seg_output = (
"/perception/obstacle_segmentation/single_frame/pointcloud_raw"
"/perception/obstacle_segmentation/single_frame/pointcloud"
)
self.output_topic = "/perception/obstacle_segmentation/pointcloud"
self.use_single_frame_filter = self.ground_segmentation_param["use_single_frame_filter"]
Expand Down Expand Up @@ -297,7 +297,7 @@ def create_time_series_outlier_filter_components(input_topic, output_topic):
ComposableNode(
package="occupancy_grid_map_outlier_filter",
plugin="occupancy_grid_map_outlier_filter::OccupancyGridMapOutlierFilterComponent",
name="occupancy_grid_map_outlier_filter",
name="occupancy_grid_based_outlier_filter",
remappings=[
("~/input/occupancy_grid_map", "/perception/occupancy_grid_map/map"),
("~/input/pointcloud", input_topic),
Expand Down
2 changes: 1 addition & 1 deletion launch/tier4_perception_launch/launch/perception.launch.xml
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Expand Up @@ -139,7 +139,7 @@
<group>
<push-ros-namespace namespace="occupancy_grid_map"/>
<include file="$(find-pkg-share tier4_perception_launch)/launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml">
<arg name="input/obstacle_pointcloud" value="/perception/obstacle_segmentation/single_frame/pointcloud_raw"/>
<arg name="input/obstacle_pointcloud" value="/perception/obstacle_segmentation/single_frame/pointcloud"/>
<arg name="input/raw_pointcloud" value="$(var input/pointcloud)"/>
<arg name="output" value="/perception/occupancy_grid_map/map"/>
<arg name="use_intra_process" value="true"/>
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2 changes: 1 addition & 1 deletion perception/probabilistic_occupancy_grid_map/synchronized_grid_map_fusion.md
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Expand Up @@ -97,7 +97,7 @@ You need to generate OGMs in each sensor frame before achieving grid map fusion.

```xml
<include file="$(find-pkg-share tier4_perception_launch)/launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml">
<arg name="input/obstacle_pointcloud" value="/perception/obstacle_segmentation/single_frame/pointcloud_raw"/>
<arg name="input/obstacle_pointcloud" value="/perception/obstacle_segmentation/single_frame/pointcloud"/>
<arg name="input/raw_pointcloud" value="/sensing/lidar/right/outlier_filtered/pointcloud_synchronized"/>
<arg name="output" value="/perception/occupancy_grid_map/right_lidar/map"/>
<arg name="map_frame" value="base_link"/>
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