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feat(common_awsim_labs_sensor_launch): filter load from parameter file #8

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feat(common_awsim_labs_sensor_launch): filter load from parameter file #8

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d61de9d
feature: filter load from parameter file
vividf Oct 22, 2024
d0b6847
chore: fix yaml
vividf Oct 22, 2024
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8 changes: 8 additions & 0 deletions common_awsim_labs_sensor_launch/config/filter.param.yaml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,8 @@
/**:
ros__parameters:
input_frame: ""
output_frame: ""
max_queue_size: 5
use_indices: false
latched_indices: false
approximate_sync: false
20 changes: 17 additions & 3 deletions common_awsim_labs_sensor_launch/launch/velodyne_node_container.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -59,7 +59,12 @@
result[x] = LaunchConfiguration(x)
return result


# Pointcloud preprocessor parameters
filter_param = ParameterFile(
param_file=LaunchConfiguration("filter_param_path").perform(context),
allow_substs=True,
)
distortion_corrector_node_param = ParameterFile(
param_file=LaunchConfiguration("distortion_correction_node_param_path").perform(context),
allow_substs=True,
Expand Down Expand Up @@ -98,7 +103,7 @@
("input", "pointcloud_raw_ex"),
("output", "self_cropped/pointcloud_ex"),
],
parameters=[cropbox_parameters],
parameters=[filter_param, cropbox_parameters],
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
)
)
Expand All @@ -120,7 +125,7 @@
("input", "self_cropped/pointcloud_ex"),
("output", "mirror_cropped/pointcloud_ex"),
],
parameters=[cropbox_parameters],
parameters=[filter_param, cropbox_parameters],
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
)
)
Expand Down Expand Up @@ -154,7 +159,7 @@
("input", "rectified/pointcloud_ex"),
("output", "pointcloud_before_sync"),
],
parameters=[ring_outlier_filter_node_param],
parameters=[filter_param, ring_outlier_filter_node_param],
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
)
)
Expand Down Expand Up @@ -194,7 +199,16 @@
)
add_launch_arg("frame_id", "lidar", "frame id")
add_launch_arg("use_multithread", "False", "use multithread")
add_launch_arg("use_intra_process", "False", "use ROS2 component container communication")

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add_launch_arg(
"filter_param_path",
os.path.join(
common_sensor_share_dir,
"config",
"filter.param.yaml",
),
description="path to parameter file of filter",
)
add_launch_arg(
"distortion_correction_node_param_path",
os.path.join(
Expand Down
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