feat(velodyne_node_container): use distortion_corrector

Signed-off-by: 1222-takeshi <[email protected]>
tier4 · Feb 26, 2024 · 34b87e3 · 34b87e3
1 parent b02dc5e
commit 34b87e3
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Showing 2 changed files with 42 additions and 42 deletions.
diff --git a/aip_x1_1_launch/launch/velodyne_node_container.launch.py b/aip_x1_1_launch/launch/velodyne_node_container.launch.py
@@ -104,35 +104,35 @@ def create_parameter_dict(*args):
         )
     )
 
-    nodes.append(
-        ComposableNode(
-            package="velodyne_pointcloud",
-            plugin="velodyne_pointcloud::Interpolate",
-            name="velodyne_interpolate_node",
-            remappings=[
-                ("velodyne_points_ex", "self_cropped/pointcloud_ex"),
-                ("velodyne_points_interpolate", "rectified/pointcloud"),
-                ("velodyne_points_interpolate_ex", "rectified/pointcloud_ex"),
-            ],
-            extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
-        )
-    )
-
     # nodes.append(
     #     ComposableNode(
-    #         package="pointcloud_preprocessor",
-    #         plugin="pointcloud_preprocessor::DistortionCorrectorComponent",
-    #         name="distortion_corrector_node",
+    #         package="velodyne_pointcloud",
+    #         plugin="velodyne_pointcloud::Interpolate",
+    #         name="velodyne_interpolate_node",
     #         remappings=[
-    #             ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
-    #             ("~/input/imu", "/sensing/imu/imu_data"),
-    #             ("~/input/pointcloud", "self_cropped/pointcloud_ex"),
-    #             ("~/output/pointcloud", "rectified/pointcloud_ex"),
+    #             ("velodyne_points_ex", "self_cropped/pointcloud_ex"),
+    #             ("velodyne_points_interpolate", "rectified/pointcloud"),
+    #             ("velodyne_points_interpolate_ex", "rectified/pointcloud_ex"),
     #         ],
     #         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     #     )
     # )
 
+    nodes.append(
+        ComposableNode(
+            package="pointcloud_preprocessor",
+            plugin="pointcloud_preprocessor::DistortionCorrectorComponent",
+            name="distortion_corrector_node",
+            remappings=[
+                ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
+                ("~/input/imu", "/sensing/imu/imu_data"),
+                ("~/input/pointcloud", "self_cropped/pointcloud_ex"),
+                ("~/output/pointcloud", "rectified/pointcloud_ex"),
+            ],
+            extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
+        )
+    )
+
     nodes.append(
         ComposableNode(
             package="pointcloud_preprocessor",

diff --git a/aip_x1_launch/launch/velodyne_node_container.launch.py b/aip_x1_launch/launch/velodyne_node_container.launch.py
@@ -104,35 +104,35 @@ def create_parameter_dict(*args):
         )
     )
 
-    # nodes.append(
-    #     ComposableNode(
-    #         package="pointcloud_preprocessor",
-    #         plugin="pointcloud_preprocessor::DistortionCorrectorComponent",
-    #         name="distortion_corrector_node",
-    #         remappings=[
-    #             ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
-    #             ("~/input/imu", "/sensing/imu/imu_data"),
-    #             ("~/input/pointcloud", "self_cropped/pointcloud_ex"),
-    #             ("~/output/pointcloud", "rectified/pointcloud_ex"),
-    #         ],
-    #         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
-    #     )
-    # )
-
     nodes.append(
         ComposableNode(
-            package="velodyne_pointcloud",
-            plugin="velodyne_pointcloud::Interpolate",
-            name="velodyne_interpolate_node",
+            package="pointcloud_preprocessor",
+            plugin="pointcloud_preprocessor::DistortionCorrectorComponent",
+            name="distortion_corrector_node",
             remappings=[
-                ("velodyne_points_ex", "self_cropped/pointcloud_ex"),
-                ("velodyne_points_interpolate", "rectified/pointcloud"),
-                ("velodyne_points_interpolate_ex", "rectified/pointcloud_ex"),
+                ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
+                ("~/input/imu", "/sensing/imu/imu_data"),
+                ("~/input/pointcloud", "self_cropped/pointcloud_ex"),
+                ("~/output/pointcloud", "rectified/pointcloud_ex"),
             ],
             extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
         )
     )
 
+    # nodes.append(
+    #     ComposableNode(
+    #         package="velodyne_pointcloud",
+    #         plugin="velodyne_pointcloud::Interpolate",
+    #         name="velodyne_interpolate_node",
+    #         remappings=[
+    #             ("velodyne_points_ex", "self_cropped/pointcloud_ex"),
+    #             ("velodyne_points_interpolate", "rectified/pointcloud"),
+    #             ("velodyne_points_interpolate_ex", "rectified/pointcloud_ex"),
+    #         ],
+    #         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
+    #     )
+    # )
+
     nodes.append(
         ComposableNode(
             package="pointcloud_preprocessor",