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feature(nebula_node_container): refactored and added the correction file #181

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feature(nebula_node_container): refactored and added the correction file #181

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6e1e930
Added the changes to load the at128 calibration file
knzo25 Oct 12, 2023
9db09d0
Merge branch 'tier4/universe' into feature/nebula_launcher_refactor
knzo25 Oct 12, 2023
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30 changes: 9 additions & 21 deletions common_sensor_launch/launch/nebula_node_container.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,9 +12,6 @@
# See the License for the specific language governing permissions and
# limitations under the License.

import os

from ament_index_python.packages import get_package_share_directory
import launch
from launch.actions import DeclareLaunchArgument
from launch.actions import OpaqueFunction
Expand All @@ -30,9 +27,9 @@

def get_lidar_make(sensor_name):
if sensor_name[:6].lower() == "pandar":
return "Hesai", ".csv"
return "Hesai"
elif sensor_name[:3].lower() in ["hdl", "vlp", "vls"]:
return "Velodyne", ".yaml"
return "Velodyne"
return "unrecognized_sensor_model"


Expand Down Expand Up @@ -70,19 +67,7 @@ def create_parameter_dict(*args):

# Model and make
sensor_model = LaunchConfiguration("sensor_model").perform(context)
sensor_make, sensor_extension = get_lidar_make(sensor_model)
nebula_decoders_share_dir = get_package_share_directory("nebula_decoders")

# Calibration file
sensor_calib_fp = os.path.join(
nebula_decoders_share_dir,
"calibration",
sensor_make.lower(),
sensor_model + sensor_extension,
)
assert os.path.exists(
sensor_calib_fp
), "Sensor calib file under calibration/ was not found: {}".format(sensor_calib_fp)
sensor_make = get_lidar_make(sensor_model)

nodes = []

Expand All @@ -93,9 +78,10 @@ def create_parameter_dict(*args):
name=sensor_make.lower() + "_driver_ros_wrapper_node",
parameters=[
{
"calibration_file": sensor_calib_fp,
"sensor_model": sensor_model,
**create_parameter_dict(
"calibration_file",
"correction_file",
"host_ip",
"sensor_ip",
"data_port",
Expand Down Expand Up @@ -218,8 +204,9 @@ def create_parameter_dict(*args):
parameters=[
{
"sensor_model": sensor_model,
"calibration_file": sensor_calib_fp,
**create_parameter_dict(
"calibration_file",
"correction_file",
"sensor_ip",
"host_ip",
"scan_phase",
Expand Down Expand Up @@ -263,7 +250,8 @@ def add_launch_arg(name: str, default_value=None, description=None):
)

add_launch_arg("sensor_model", description="sensor model name")
add_launch_arg("config_file", "", description="sensor configuration file")
add_launch_arg("calibration_file", "", description="sensor calibration file")
add_launch_arg("correction_file", "", description="sensor correction file")
add_launch_arg("launch_driver", "True", "do launch driver")
add_launch_arg("setup_sensor", "True", "configure sensor")
add_launch_arg("sensor_ip", "192.168.1.201", "device ip address")
Expand Down
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