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refactor(autoware_pointcloud_preprocessor): rework concatenate_pointc…
…loud and time_synchronizer_node parameters (autowarefoundation#8509) * feat: rewort concatenate pointclouds and time synchronizer parameter Signed-off-by: vividf <[email protected]> * chore: fix launch files Signed-off-by: vividf <[email protected]> * chore: fix schema Signed-off-by: vividf <[email protected]> * chore: fix schema Signed-off-by: vividf <[email protected]> * chore: fix integer and number default value in schema Signed-off-by: vividf <[email protected]> * chore: add boundary Signed-off-by: vividf <[email protected]> --------- Signed-off-by: vividf <[email protected]>
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11 changes: 11 additions & 0 deletions
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sensing/autoware_pointcloud_preprocessor/config/concatenate_pointclouds.param.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,11 @@ | ||
| /**: | ||
| ros__parameters: | ||
| output_frame: base_link | ||
| input_topics: [ | ||
| "/sensing/lidar/left/pointcloud_before_sync", | ||
| "/sensing/lidar/right/pointcloud_before_sync", | ||
| "/sensing/lidar/top/pointcloud_before_sync" | ||
| ] | ||
| max_queue_size: 5 | ||
| timeout_sec: 0.033 | ||
| input_offset: [0.0 ,0.0 ,0.0] |
14 changes: 14 additions & 0 deletions
14
sensing/autoware_pointcloud_preprocessor/config/time_synchronizer_node.param.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,14 @@ | ||
| /**: | ||
| ros__parameters: | ||
| input_twist_topic_type: twist | ||
| output_frame: base_link | ||
| keep_input_frame_in_synchronized_pointcloud: false | ||
| input_topics: [ | ||
| "/sensing/lidar/left/pointcloud_before_sync", | ||
| "/sensing/lidar/right/pointcloud_before_sync", | ||
| "/sensing/lidar/top/pointcloud_before_sync" | ||
| ] | ||
| synchronized_pointcloud_postfix: pointcloud | ||
| max_queue_size: 5 | ||
| timeout_sec: 0.033 | ||
| input_offset: [0.0, 0.0, 0.0] |
2 changes: 1 addition & 1 deletion
2
...sor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_pointclouds.hpp
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9 changes: 9 additions & 0 deletions
9
sensing/autoware_pointcloud_preprocessor/launch/concatenate_pointcloud.launch.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,9 @@ | ||
| <launch> | ||
| <arg name="output" default="/sensing/lidar/concatenated/pointcloud"/> | ||
| <!-- Parameter --> | ||
| <arg name="param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/concatenate_pointclouds.param.yaml"/> | ||
| <node pkg="autoware_pointcloud_preprocessor" exec="concatenate_pointclouds_node" name="concatenate_pointclouds_node" output="screen"> | ||
| <remap from="output" to="$(var output)"/> | ||
| <param from="$(var param_file)"/> | ||
| </node> | ||
| </launch> |
9 changes: 9 additions & 0 deletions
9
sensing/autoware_pointcloud_preprocessor/launch/time_synchronizer_node.launch.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,9 @@ | ||
| <launch> | ||
| <arg name="input/twist" default="/sensing/vehicle_velocity_converter/twist_with_covariance"/> | ||
| <!-- Parameter --> | ||
| <arg name="param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/time_synchronizer_node.param.yaml"/> | ||
| <node pkg="autoware_pointcloud_preprocessor" exec="time_synchronizer_node" name="time_synchronizer_node" output="screen"> | ||
| <remap from="~/input/twist" to="$(var input/twist)"/> | ||
| <param from="$(var param_file)"/> | ||
| </node> | ||
| </launch> |
58 changes: 58 additions & 0 deletions
58
sensing/autoware_pointcloud_preprocessor/schema/concatenate_pointclouds.schema.json
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,58 @@ | ||
| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "Parameters for Concatenate Pointclouds Node", | ||
| "type": "object", | ||
| "definitions": { | ||
| "concatenate_pointclouds": { | ||
| "type": "object", | ||
| "properties": { | ||
| "timeout_sec": { | ||
| "type": "number", | ||
| "default": "0.1", | ||
| "minimum": 0, | ||
| "description": "Tolerance of time to publish the next pointcloud [s]. When this time limit is exceeded, the filter concatenates and publishes pointcloud, even if not all the point clouds are subscribed." | ||
| }, | ||
| "input_offset": { | ||
| "type": "array", | ||
| "items": { | ||
| "type": "number" | ||
| }, | ||
| "default": [], | ||
| "description": "This parameter can control waiting time for each input sensor pointcloud [s]. You must to set the same length of offsets with input pointclouds numbers." | ||
| }, | ||
| "output_frame": { | ||
| "type": "string", | ||
| "default": "base_link", | ||
| "description": "Output frame id." | ||
| }, | ||
| "input_topics": { | ||
| "type": "array", | ||
| "items": { | ||
| "type": "string" | ||
| }, | ||
| "default": [], | ||
| "description": "List of input topics." | ||
| }, | ||
| "max_queue_size": { | ||
| "type": "integer", | ||
| "default": "5", | ||
| "minimum": 1, | ||
| "description": "Max queue size of input/output topics." | ||
| } | ||
| }, | ||
| "required": ["timeout_sec", "input_offset", "output_frame", "input_topics", "max_queue_size"] | ||
| } | ||
| }, | ||
| "properties": { | ||
| "/**": { | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "$ref": "#/definitions/concatenate_pointclouds" | ||
| } | ||
| }, | ||
| "required": ["ros__parameters"] | ||
| } | ||
| }, | ||
| "required": ["/**"] | ||
| } |
83 changes: 83 additions & 0 deletions
83
sensing/autoware_pointcloud_preprocessor/schema/time_synchronizer_node.schema.json
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,83 @@ | ||
| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "Parameters for Time synchronizer Node", | ||
| "type": "object", | ||
| "definitions": { | ||
| "time_synchronizer": { | ||
| "type": "object", | ||
| "properties": { | ||
| "timeout_sec": { | ||
| "type": "number", | ||
| "default": "0.033", | ||
| "minimum": 0, | ||
| "description": "Tolerance of time to publish the next pointcloud [s]. When this time limit is exceeded, the filter concatenates and publishes pointcloud, even if not all the point clouds are subscribed." | ||
| }, | ||
| "input_offset": { | ||
| "type": "array", | ||
| "items": { | ||
| "type": "number" | ||
| }, | ||
| "default": [], | ||
| "description": "This parameter can control waiting time for each input sensor pointcloud [s]. You must to set the same length of offsets with input pointclouds numbers." | ||
| }, | ||
| "input_twist_topic_type": { | ||
| "type": "string", | ||
| "enum": ["twist", "odom"], | ||
| "default": "twist", | ||
| "description": "Topic type for twist. Currently supports 'twist' or 'odom'." | ||
| }, | ||
| "output_frame": { | ||
| "type": "string", | ||
| "default": "base_link", | ||
| "description": "Output frame." | ||
| }, | ||
| "keep_input_frame_in_synchronized_pointcloud": { | ||
| "type": "boolean", | ||
| "default": true, | ||
| "description": "Flag to indicate if input frame should be kept in synchronized point cloud." | ||
| }, | ||
| "input_topics": { | ||
| "type": "array", | ||
| "items": { | ||
| "type": "string" | ||
| }, | ||
| "default": [], | ||
| "description": "List of input topics." | ||
| }, | ||
| "synchronized_pointcloud_postfix": { | ||
| "type": "string", | ||
| "default": "pointcloud", | ||
| "description": "Postfix for the synchronized point cloud." | ||
| }, | ||
| "max_queue_size": { | ||
| "type": "integer", | ||
| "default": "5", | ||
| "minimum": 1, | ||
| "description": "Max queue size of input/output topics." | ||
| } | ||
| }, | ||
| "required": [ | ||
| "timeout_sec", | ||
| "input_offset", | ||
| "input_twist_topic_type", | ||
| "output_frame", | ||
| "keep_input_frame_in_synchronized_pointcloud", | ||
| "input_topics", | ||
| "synchronized_pointcloud_postfix", | ||
| "max_queue_size" | ||
| ] | ||
| } | ||
| }, | ||
| "properties": { | ||
| "/**": { | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "$ref": "#/definitions/time_synchronizer" | ||
| } | ||
| }, | ||
| "required": ["ros__parameters"] | ||
| } | ||
| }, | ||
| "required": ["/**"] | ||
| } |
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