merge modifications

Signed-off-by: YuxuanLiuTier4Desktop <[email protected]>
tier4 · Nov 26, 2024 · 322fe29 · 322fe29
1 parent 80f7b26
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Showing 8 changed files with 105 additions and 525 deletions.
diff --git a/nebula_examples/CMakeLists.txt b/nebula_examples/CMakeLists.txt
@@ -71,23 +71,6 @@ list(APPEND ${PROJECT_NAME}_EXECUTABLES hesai_ros_offline_extract_bag_pcd_node)
 target_link_libraries(hesai_ros_offline_extract_bag_pcd_node PUBLIC
     hesai_ros_offline_extract_bag_pcd
 )
-# Extraction for Hesai ROSBag
-add_library(hesai_ros_offline_extract_bag_decode SHARED
-    ${CMAKE_CURRENT_SOURCE_DIR}/src/hesai/hesai_ros_offline_extract_bag_decode.cpp
-    ${CMAKE_CURRENT_SOURCE_DIR}/src/common/parameter_descriptors.cpp
-)
-target_link_libraries(hesai_ros_offline_extract_bag_decode PUBLIC
-    nebula_decoders::nebula_decoders_hesai
-)
-
-add_executable(hesai_ros_offline_extract_bag_decode_node
-    ${CMAKE_CURRENT_SOURCE_DIR}/src/hesai/hesai_ros_offline_extract_bag_decode_main.cpp
-)
-list(APPEND ${PROJECT_NAME}_EXECUTABLES hesai_ros_offline_extract_bag_decode_node)
-
-target_link_libraries(hesai_ros_offline_extract_bag_decode_node PUBLIC
-    hesai_ros_offline_extract_bag_decode
-)
 
 ## Velodyne
 # Extraction for TEST Lib

diff --git a/nebula_examples/include/hesai/hesai_ros_offline_extract_bag_decode.hpp b/nebula_examples/include/hesai/hesai_ros_offline_extract_bag_decode.hpp
diff --git a/nebula_examples/include/hesai/hesai_ros_offline_extract_bag_pcd.hpp b/nebula_examples/include/hesai/hesai_ros_offline_extract_bag_pcd.hpp
@@ -71,9 +71,15 @@ class HesaiRosOfflineExtractBag final : public rclcpp::Node
   std::string format_;
   std::string target_topic_;
   std::string correction_file_path_;
+  std::string frame_id_;
+  std::string output_pointcloud_topic_;
   int out_num_;
   int skip_num_;
   bool only_xyz_;
+
+  bool write_pcd_flag_;
+  bool write_rosbag_pointcloud_flag_;
+  bool write_rosbag_packets_flag_;
 };
 
 }  // namespace nebula::ros

diff --git a/nebula_examples/launch/hesai_offline_bag_decode.xml b/nebula_examples/launch/hesai_offline_bag_decode.xml
diff --git a/nebula_examples/launch/hesai_offline_bag_pcd.xml b/nebula_examples/launch/hesai_offline_bag_pcd.xml
@@ -1,25 +1,38 @@
 <?xml version="1.0"?>
 <launch>
-    <arg name="sensor_model" description="Pandar64|Pandar40P|PandarXT32|PandarXT32M|PandarAT128|PandarQT64"/>
-    <arg name="return_mode" default="Dual" description="See readme for supported return modes"/>
-    <arg name="frame_id"  default="hesai"/>
+    <!-- action selection -->
+    <arg name="is_write_to_pcd" default="false"/>
+    <arg name="is_write_to_rosbag" default="true"/>
+    <arg name="is_write_packets_to_rosbag" default="false"/>
+
+    sensor related configuration
+    <arg name="sensor_model" default="Pandar128E4X" description="Pandar64|Pandar40P|PandarXT32|PandarXT32M|PandarAT128|PandarQT64"/>
+    <arg name="lidar_parameter_file" default="$(find-pkg-share nebula_ros)/config/lidar/hesai/Pandar128E4X.params.yaml"/>
+    <arg name="bag_path" default="rosbags/default_2024-10-24-10-50-48_p0900"/>
+    <arg name="target_topic" default="/sensing/lidar/top/pandar_packets"/>
+    <arg name="output_topic" default="/sensing/lidar/top/pointcloud"/>
+    <arg name="frame_id"  default="lidar_top"/>
+    <arg name="out_path" default="output_rosbag"/>
+
+    <!-- output sample number configuration -->
+    <arg name="out_num" default="3999"/>
+    <arg name="skip_num" default="0"/>
+
+    <!-- LiDAR configuration overriding parameter file -->
     <arg name="scan_phase" default="0.0" />
+    <arg name="return_mode" default="Dual" description="See readme for supported return modes"/>
 
     <arg name="calibration_file" default="$(find-pkg-share nebula_decoders)/calibration/hesai/$(var sensor_model).csv"/>
     <arg name="correction_file" default="$(find-pkg-share nebula_decoders)/calibration/hesai/$(var sensor_model).dat"/>
 
-    <arg name="bag_path" default="path to bag dir"/>
     <arg name="storage_id" default="sqlite3"/>
-    <arg name="out_path" default="path to output dir"/>
     <arg name="format" default="cdr"/>
-    <arg name="target_topic" default="/pandar_packets"/>
-    <arg name="out_num" default="1"/>
-    <arg name="skip_num" default="3"/>
     <arg name="only_xyz" default="true"/>
 
 
     <node pkg="nebula_examples" exec="hesai_ros_offline_extract_bag_pcd_node"
           name="hesai_cloud" output="screen">
+        <param from="$(var lidar_parameter_file)"/>
         <param name="sensor_model" value="$(var sensor_model)"/>
         <param name="return_mode" value="$(var return_mode)"/>
         <param name="frame_id" value="$(var frame_id)"/>
@@ -31,8 +44,8 @@
         <param name="out_path" value="$(var out_path)"/>
         <param name="format" value="$(var format)"/>
         <param name="target_topic" value="$(var target_topic)"/>
+        <param name="output_topic" value="$(var output_topic)"/>
         <param name="out_num" value="$(var out_num)"/>
         <param name="skip_num" value="$(var skip_num)"/>
-        <param name="only_xyz" value="$(var only_xyz)"/>
     </node>
 </launch>