feat(aip_launcher): ring outlier filter node load from param file (#305)

* feat: ring outlier filter node load from param file Signed-off-by: vividf <[email protected]> * chore: remove distortion related in order to seperate PRs Signed-off-by: vividf <[email protected]> * chore: add param file Signed-off-by: vividf <[email protected]> --------- Signed-off-by: vividf <[email protected]>
tier4 · Oct 1, 2024 · 803c445 · 803c445
1 parent a2efe2c
commit 803c445
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Showing 5 changed files with 43 additions and 6 deletions.
diff --git a/...nfig/blockage_diagnostics_param_file.yaml → ...ch/config/blockage_diagnostics.param.yaml b/...nfig/blockage_diagnostics_param_file.yaml → ...ch/config/blockage_diagnostics.param.yaml
diff --git a/aip_x2_launch/config/ring_outlier_filter_node.param.yaml b/aip_x2_launch/config/ring_outlier_filter_node.param.yaml
@@ -0,0 +1,14 @@
+/**:
+  ros__parameters:
+    distance_ratio: 1.03
+    object_length_threshold: 0.1
+    num_points_threshold: 4
+    max_rings_num: 128
+    max_points_num_per_ring: 4000
+    publish_outlier_pointcloud: false
+    min_azimuth_deg: 0.0
+    max_azimuth_deg: 360.0
+    max_distance: 12.0
+    vertical_bins: 128
+    horizontal_bins: 36
+    noise_threshold: 2
diff --git a/aip_x2_launch/launch/pandar_node_container.launch.py b/aip_x2_launch/launch/pandar_node_container.launch.py
@@ -209,11 +209,9 @@ def create_parameter_dict(*args):
 
     # Ring Outlier Filter is the last component in the pipeline, so control the output frame here
     if LaunchConfiguration("output_as_sensor_frame").perform(context):
-        ring_outlier_filter_parameters = {"output_frame": LaunchConfiguration("frame_id")}
+        ring_outlier_output_frame = {"output_frame": LaunchConfiguration("frame_id")}
     else:
-        ring_outlier_filter_parameters = {
-            "output_frame": ""
-        }  # keep the output frame as the input frame
+        ring_outlier_output_frame = {"output_frame": ""}  # keep the output frame as the input frame
     ring_outlier_filter_component = ComposableNode(
         package="autoware_pointcloud_preprocessor",
         plugin="autoware::pointcloud_preprocessor::RingOutlierFilterComponent",
@@ -222,7 +220,10 @@ def create_parameter_dict(*args):
             ("input", "rectified/pointcloud_ex"),
             ("output", "pointcloud_before_sync"),
         ],
-        parameters=[ring_outlier_filter_parameters],
+        parameters=[
+            load_composable_node_param("ring_outlier_filter_node_param_file"),
+            ring_outlier_output_frame,
+        ],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )
 
@@ -342,7 +343,11 @@ def add_launch_arg(name: str, default_value=None):
     add_launch_arg("horizontal_resolution", "0.4")
     add_launch_arg(
         "blockage_diagnostics_param_file",
-        [FindPackageShare("aip_x2_launch"), "/config/blockage_diagnostics_param_file.yaml"],
+        [FindPackageShare("aip_x2_launch"), "/config/blockage_diagnostics.param.yaml"],
+    )
+    add_launch_arg(
+        "ring_outlier_filter_node_param_file",
+        [FindPackageShare("aip_x2_launch"), "/config/ring_outlier_filter_node.param.yaml"],
     )
     add_launch_arg(
         "distortion_corrector_node_param_file",

diff --git a/common_sensor_launch/config/ring_outlier_filter_node.param.yaml b/common_sensor_launch/config/ring_outlier_filter_node.param.yaml
@@ -0,0 +1,14 @@
+/**:
+  ros__parameters:
+    distance_ratio: 1.03
+    object_length_threshold: 0.1
+    num_points_threshold: 4
+    max_rings_num: 128
+    max_points_num_per_ring: 4000
+    publish_outlier_pointcloud: false
+    min_azimuth_deg: 0.0
+    max_azimuth_deg: 360.0
+    max_distance: 12.0
+    vertical_bins: 128
+    horizontal_bins: 36
+    noise_threshold: 2
diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py
@@ -382,6 +382,10 @@ def add_launch_arg(name: str, default_value=None, description=None):
         "distortion_corrector_node_param_file",
         [FindPackageShare("common_sensor_launch"), "/config/distortion_corrector_node.param.yaml"],
     )
+    add_launch_arg(
+        "ring_outlier_filter_node_param_file",
+        [FindPackageShare("common_sensor_launch"), "/config/ring_outlier_filter_node.param.yaml"],
+    )
 
     set_container_executable = SetLaunchConfiguration(
         "container_executable",