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

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merged 6 commits into from
Oct 1, 2024
Merged

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

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603c496
feat: ring outlier filter node load from param file
vividf Sep 9, 2024
16673dc
Merge branch 'tier4/universe' into feature/ring_outlier_load_from_param
vividf Sep 18, 2024
bacc568
chore: remove distortion related in order to seperate PRs
vividf Sep 18, 2024
8efadcd
chore: add param file
vividf Sep 18, 2024
778399d
Merge branch 'tier4/universe' into feature/ring_outlier_load_from_param
vividf Sep 18, 2024
4724f81
Merge branch 'tier4/universe' into feature/ring_outlier_load_from_param
vividf Sep 30, 2024
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0 ...nfig/blockage_diagnostics_param_file.yaml → ...ch/config/blockage_diagnostics.param.yaml
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14 changes: 14 additions & 0 deletions aip_x2_launch/config/ring_outlier_filter_node.param.yaml
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Original file line number Diff line number Diff line change
@@ -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
17 changes: 11 additions & 6 deletions aip_x2_launch/launch/pandar_node_container.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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",
Expand All @@ -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")}],
)

Expand Down Expand Up @@ -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",
Expand Down
14 changes: 14 additions & 0 deletions common_sensor_launch/config/ring_outlier_filter_node.param.yaml
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Original file line number Diff line number Diff line change
@@ -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
4 changes: 4 additions & 0 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 @@ -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",
Expand Down
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