Merge branch 'tier4/universe' into fix/add_blockage_xx1

tier4 · Jan 22, 2024 · f052504 · f052504
2 parents fa93588 + 90b7aba
commit f052504
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Showing 15 changed files with 30 additions and 55 deletions.
diff --git a/aip_x1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml b/aip_x1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml
@@ -113,5 +113,5 @@
                 gyro_bias_validator:
                   type: diagnostic_aggregator/GenericAnalyzer
                   path: gyro_bias_validator
-                  contains: [": gyro_bias_estimator"]
+                  contains: [": gyro_bias_validator"]
                   timeout: 1.0
diff --git a/aip_x1_launch/launch/lidar.launch.xml b/aip_x1_launch/launch/lidar.launch.xml
@@ -22,8 +22,7 @@
         <arg name="scan_phase" value="180.0" />
         <arg name="launch_driver" value="$(var launch_driver)" />
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
-        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
-        <arg name="container_name" value="$(var pointcloud_container_name)"/>
+        <arg name="container_name" value="pointcloud_container"/>
       </include>
     </group>
 

diff --git a/aip_x1_launch/launch/pointcloud_preprocessor.launch.py b/aip_x1_launch/launch/pointcloud_preprocessor.launch.py
@@ -52,7 +52,7 @@ def launch_setup(context, *args, **kwargs):
 
     # set container to run all required components in the same process
     container = ComposableNodeContainer(
-        name=LaunchConfiguration("container_name"),
+        name=LaunchConfiguration("individual_container_name"),
         namespace="",
         package="rclcpp_components",
         executable=LaunchConfiguration("container_executable"),
@@ -64,7 +64,7 @@ def launch_setup(context, *args, **kwargs):
     target_container = (
         container
         if UnlessCondition(LaunchConfiguration("use_pointcloud_container")).evaluate(context)
-        else LaunchConfiguration("container_name")
+        else LaunchConfiguration("pointcloud_container_name")
     )
 
     # load concat or passthrough filter
@@ -86,7 +86,8 @@ def add_launch_arg(name: str, default_value=None):
     add_launch_arg("use_multithread", "False")
     add_launch_arg("use_intra_process", "False")
     add_launch_arg("use_pointcloud_container", "False")
-    add_launch_arg("container_name", "pointcloud_preprocessor_container")
+    add_launch_arg("pointcloud_container_name", "pointcloud_container")
+    add_launch_arg("individual_container_name", "concatenate_container")
 
     set_container_executable = SetLaunchConfiguration(
         "container_executable",

diff --git a/aip_x2_launch/config/diagnostic_aggregator/sensor_kit.param.yaml b/aip_x2_launch/config/diagnostic_aggregator/sensor_kit.param.yaml
@@ -96,5 +96,5 @@
                 gyro_bias_validator:
                   type: diagnostic_aggregator/GenericAnalyzer
                   path: gyro_bias_validator
-                  contains: [": gyro_bias_estimator"]
+                  contains: [": gyro_bias_validator"]
                   timeout: 1.0
diff --git a/aip_x2_launch/launch/gnss.launch.xml b/aip_x2_launch/launch/gnss.launch.xml
@@ -8,9 +8,9 @@
     <!-- Septentrio Mosaic Driver -->
     <node pkg="septentrio_gnss_driver" name="septentrio" exec="septentrio_gnss_driver_node" if="$(var launch_driver)">
       <param from="$(find-pkg-share aip_x2_launch)/config/mosaic_x5_rover.param.yaml"/>
-      <remap from="/navsatfix" to="~/nav_sat_fix"/>
-      <remap from="/poscovgeodetic" to="~/poscovgeodetic"/>
-      <remap from="/pvtgeodetic" to="~/pvtgeodetic"/>
+      <remap from="navsatfix" to="~/nav_sat_fix"/>
+      <remap from="poscovgeodetic" to="~/poscovgeodetic"/>
+      <remap from="pvtgeodetic" to="~/pvtgeodetic"/>
     </node>
 
     <!-- NavSatFix to MGRS Pose -->

diff --git a/aip_x2_launch/launch/lidar.launch.xml b/aip_x2_launch/launch/lidar.launch.xml
@@ -214,8 +214,8 @@
       <arg name="base_frame" value="base_link" />
       <arg name="use_intra_process" value="true" />
       <arg name="use_multithread" value="true" />
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
-      <arg name="container_name" value="$(var pointcloud_container_name)"/>
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </include>
 
   </group>

diff --git a/aip_x2_launch/launch/pointcloud_preprocessor.launch.py b/aip_x2_launch/launch/pointcloud_preprocessor.launch.py
@@ -58,7 +58,7 @@ def launch_setup(context, *args, **kwargs):
 
     # set container to run all required components in the same process
     container = ComposableNodeContainer(
-        name=LaunchConfiguration("container_name"),
+        name=LaunchConfiguration("individual_container_name"),
         namespace="",
         package="rclcpp_components",
         executable=LaunchConfiguration("container_executable"),
@@ -70,7 +70,7 @@ def launch_setup(context, *args, **kwargs):
     target_container = (
         container
         if UnlessCondition(LaunchConfiguration("use_pointcloud_container")).evaluate(context)
-        else LaunchConfiguration("container_name")
+        else LaunchConfiguration("pointcloud_container_name")
     )
 
     # load concat or passthrough filter
@@ -93,7 +93,8 @@ def add_launch_arg(name: str, default_value=None):
     add_launch_arg("use_multithread", "True")
     add_launch_arg("use_intra_process", "True")
     add_launch_arg("use_pointcloud_container", "False")
-    add_launch_arg("container_name", "pointcloud_preprocessor_container")
+    add_launch_arg("pointcloud_container_name", "pointcloud_container")
+    add_launch_arg("individual_container_name", "concatenate_container")
 
     set_container_executable = SetLaunchConfiguration(
         "container_executable",

diff --git a/aip_xx1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml b/aip_xx1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml
@@ -114,5 +114,5 @@
                 gyro_bias_validator:
                   type: diagnostic_aggregator/GenericAnalyzer
                   path: gyro_bias_validator
-                  contains: [": gyro_bias_estimator"]
+                  contains: [": gyro_bias_validator"]
                   timeout: 1.0
diff --git a/aip_xx1_launch/launch/lidar.launch.xml b/aip_xx1_launch/launch/lidar.launch.xml
@@ -23,8 +23,7 @@
         <arg name="scan_phase" value="300.0"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
-        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-        <arg name="container_name" value="$(var pointcloud_container_name)"/>
+        <arg name="container_name" value="pointcloud_container"/>
         <arg name="vertical_bins" value="128"/>
         <arg name="horizontal_ring_id" value="64"/>
         <arg name="is_channel_order_top2down" value="false"/>
@@ -46,8 +45,7 @@
         <arg name="cloud_max_angle" value="60"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
-        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-        <arg name="container_name" value="$(var pointcloud_container_name)"/>
+        <arg name="container_name" value="pointcloud_container"/>
         <arg name="vertical_bins" value="16"/>
         <arg name="horizontal_ring_id" value="0"/>
         <arg name="is_channel_order_top2down" value="false"/>
@@ -69,8 +67,7 @@
         <arg name="cloud_max_angle" value="60"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
-        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-        <arg name="container_name" value="$(var pointcloud_container_name)"/>
+        <arg name="container_name" value="pointcloud_container"/>
         <arg name="vertical_bins" value="16"/>
         <arg name="horizontal_ring_id" value="0"/>
         <arg name="is_channel_order_top2down" value="false"/>
@@ -92,8 +89,7 @@
         <arg name="cloud_max_angle" value="60"/>
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
-        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-        <arg name="container_name" value="$(var pointcloud_container_name)"/>
+        <arg name="container_name" value="pointcloud_container"/>
         <arg name="vertical_bins" value="16"/>
         <arg name="horizontal_ring_id" value="0"/>
         <arg name="is_channel_order_top2down" value="false"/>
@@ -126,8 +122,8 @@
       <arg name="base_frame" value="base_link"/>
       <arg name="use_intra_process" value="true"/>
       <arg name="use_multithread" value="true"/>
-      <arg name="use_pointcloud_container" value="true"/>
-      <arg name="container_name" value="/sensing/lidar/top/pointcloud_preprocessor/pointcloud_container"/>
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </include>
 
   </group>

diff --git a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
@@ -57,32 +57,25 @@ def launch_setup(context, *args, **kwargs):
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )
 
-    glog_component = ComposableNode(
-        package="glog_component",
-        plugin="GlogComponent",
-        name="glog_component",
-    )
-
     # set container to run all required components in the same process
     container = ComposableNodeContainer(
-        name=LaunchConfiguration("container_name"),
+        name=LaunchConfiguration("individual_container_name"),
         namespace="",
         package="rclcpp_components",
         executable=LaunchConfiguration("container_executable"),
-        composable_node_descriptions=[glog_component],
         condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
         output="screen",
     )
 
     target_container = (
         container
         if UnlessCondition(LaunchConfiguration("use_pointcloud_container")).evaluate(context)
-        else LaunchConfiguration("container_name")
+        else LaunchConfiguration("pointcloud_container_name")
     )
 
     # load concat or passthrough filter
     concat_loader = LoadComposableNodes(
-        composable_node_descriptions=[concat_component, glog_component],
+        composable_node_descriptions=[concat_component],
         target_container=target_container,
         condition=IfCondition(LaunchConfiguration("use_concat_filter")),
     )
@@ -100,7 +93,8 @@ def add_launch_arg(name: str, default_value=None):
     add_launch_arg("use_multithread", "False")
     add_launch_arg("use_intra_process", "False")
     add_launch_arg("use_pointcloud_container", "False")
-    add_launch_arg("container_name", "pointcloud_preprocessor_container")
+    add_launch_arg("pointcloud_container_name", "pointcloud_container")
+    add_launch_arg("individual_container_name", "concatenate_container")
 
     set_container_executable = SetLaunchConfiguration(
         "container_executable",

diff --git a/common_sensor_launch/launch/hesai_XT32.launch.xml b/common_sensor_launch/launch/hesai_XT32.launch.xml
@@ -14,7 +14,6 @@
   <arg name="cloud_max_angle" default="360"/>
   <arg name="dual_return_distance_threshold" default="0.1"/>
   <arg name="vehicle_mirror_param_file"/>
-  <arg name="use_pointcloud_container" default="false"/>
   <arg name="container_name" default="hesai_node_container"/>
 
   <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
@@ -32,7 +31,6 @@
     <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
     <arg name="use_intra_process" value="true"/>
     <arg name="use_multithread" value="true"/>
-    <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
     <arg name="container_name" value="$(var container_name)"/>
   </include>
 </launch>
diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py
@@ -198,16 +198,9 @@ def create_parameter_dict(*args):
         package="rclcpp_components",
         executable=LaunchConfiguration("container_executable"),
         composable_node_descriptions=nodes,
-        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
         output="screen",
     )
 
-    component_loader = LoadComposableNodes(
-        composable_node_descriptions=nodes,
-        target_container=LaunchConfiguration("container_name"),
-        condition=IfCondition(LaunchConfiguration("use_pointcloud_container")),
-    )
-
     driver_component = ComposableNode(
         package="nebula_ros",
         plugin=sensor_make + "HwInterfaceRosWrapper",
@@ -269,7 +262,7 @@ def create_parameter_dict(*args):
 
     driver_component_loader = LoadComposableNodes(
         composable_node_descriptions=[driver_component],
-        target_container=target_container,
+        target_container=container,
         condition=IfCondition(LaunchConfiguration("launch_driver")),
     )
     blockage_diag_loader = LoadComposableNodes(
@@ -278,7 +271,7 @@ def create_parameter_dict(*args):
         condition=IfCondition(LaunchConfiguration("enable_blockage_diag")),
     )
 
-    return [container, component_loader, driver_component_loader, blockage_diag_loader]
+    return [container, driver_component_loader, blockage_diag_loader]
 
 
 def generate_launch_description():
@@ -315,7 +308,6 @@ def add_launch_arg(name: str, default_value=None, description=None):
     )
     add_launch_arg("use_multithread", "False", "use multithread")
     add_launch_arg("use_intra_process", "False", "use ROS 2 component container communication")
-    add_launch_arg("use_pointcloud_container", "false")
     add_launch_arg("container_name", "nebula_node_container")
 
     add_launch_arg("enable_blockage_diag", "true")

diff --git a/common_sensor_launch/launch/velodyne_VLP16.launch.xml b/common_sensor_launch/launch/velodyne_VLP16.launch.xml
@@ -15,7 +15,6 @@
   <arg name="cloud_min_angle" default="0"/>
   <arg name="cloud_max_angle" default="360"/>
   <arg name="vehicle_mirror_param_file"/>
-  <arg name="use_pointcloud_container" default="false"/>
   <arg name="container_name" default="velodyne_node_container"/>
 
   <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
@@ -34,7 +33,6 @@
     <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
     <arg name="use_intra_process" value="true"/>
     <arg name="use_multithread" value="false"/>
-    <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
     <arg name="container_name" value="$(var container_name)"/>
   </include>
 

diff --git a/common_sensor_launch/launch/velodyne_VLP32C.launch.xml b/common_sensor_launch/launch/velodyne_VLP32C.launch.xml
@@ -15,7 +15,6 @@
   <arg name="cloud_min_angle" default="0"/>
   <arg name="cloud_max_angle" default="360"/>
   <arg name="vehicle_mirror_param_file"/>
-  <arg name="use_pointcloud_container" default="false"/>
   <arg name="container_name" default="velodyne_node_container"/>
 
   <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
@@ -34,7 +33,6 @@
     <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
     <arg name="use_intra_process" value="false"/>
     <arg name="use_multithread" value="false"/>
-    <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
     <arg name="container_name" value="$(var container_name)"/>
   </include>
 

diff --git a/common_sensor_launch/launch/velodyne_VLS128.launch.xml b/common_sensor_launch/launch/velodyne_VLS128.launch.xml
@@ -15,7 +15,6 @@
   <arg name="cloud_min_angle" default="0"/>
   <arg name="cloud_max_angle" default="360"/>
   <arg name="vehicle_mirror_param_file"/>
-  <arg name="use_pointcloud_container" default="false"/>
   <arg name="container_name" default="velodyne_node_container"/>
 
   <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
@@ -34,7 +33,6 @@
     <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
     <arg name="use_intra_process" value="true"/>
     <arg name="use_multithread" value="true"/>
-    <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
     <arg name="container_name" value="$(var container_name)"/>
   </include>