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feat(pcdless_launch): add multi camera launcher (autowarefoundation#22)
* feat(pcdless_launch): add multi camera launcher Signed-off-by: kminoda <koji.minoda@tier4.jp> * minor fix Signed-off-by: kminoda <koji.minoda@tier4.jp> --------- Signed-off-by: kminoda <koji.minoda@tier4.jp>
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101
localization/yabloc/pcdless_launch/launch/pcdless_multi_camera.launch.xml
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| <launch> | ||
| <!-- NOTE: --> | ||
| <arg name="standalone" description="[true,false] Set to true if not connected to Autoware's P/C."/> | ||
| <arg name="use_sim_time" default="true"/> | ||
| <arg name="use_septentrio" default="false" description="septentrio gnss"/> | ||
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| <!-- source camera image topics --> | ||
| <arg name="src_image_0" default="/sensing/camera/camera0/image_rect_color/compressed"/> | ||
| <arg name="src_info_0" default="/sensing/camera/camera0/camera_info"/> | ||
| <arg name="src_image_1" default="/sensing/camera/camera1/image_rect_color/compressed"/> | ||
| <arg name="src_info_1" default="/sensing/camera/camera1/camera_info"/> | ||
| <arg name="resized_image_0" default="/sensing/camera/undistorted_0/image_raw"/> | ||
| <arg name="resized_info_0" default="/sensing/camera/undistorted_0/camera_info"/> | ||
| <arg name="resized_image_1" default="/sensing/camera/undistorted_1/image_raw"/> | ||
| <arg name="resized_info_1" default="/sensing/camera/undistorted_1/camera_info"/> | ||
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| <let name="connect_base_link_to_particle_pose" value="true" if="$(var standalone)"/> | ||
| <let name="connect_base_link_to_particle_pose" value="false" unless="$(var standalone)"/> | ||
| <let name="input_pose" value="/localization/pf/pose" if="$(var standalone)"/> | ||
| <let name="input_pose" value="/localization/pose_twist_fusion_filter/pose" unless="$(var standalone)"/> | ||
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| <group> | ||
| <push-ros-namespace namespace="localization"/> | ||
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| <!-- initializer --> | ||
| <group> | ||
| <push-ros-namespace namespace="initializer"/> | ||
| <include file="$(find-pkg-share pcdless_launch)/launch/impl/initializer.launch.xml"> | ||
| <arg name="skip_autoware_pose_initializer" value="$(var standalone)"/> | ||
| </include> | ||
| </group> | ||
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| <!-- particle filter --> | ||
| <group> | ||
| <push-ros-namespace namespace="pf"/> | ||
| <include file="$(find-pkg-share pcdless_launch)/launch/impl/pf.launch.xml"/> | ||
| </group> | ||
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| <!-- static tf --> | ||
| <group if="$(var connect_base_link_to_particle_pose)"> | ||
| <node name="base_link_tf" pkg="tf2_ros" exec="static_transform_publisher" args="--frame-id /particle_filter --child-frame-id /base_link"/> | ||
| </group> | ||
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| <!-- image processing --> | ||
| <group> | ||
| <push-ros-namespace namespace="imgproc/camera0"/> | ||
| <include file="$(find-pkg-share pcdless_launch)/launch/impl/imgproc.launch.xml"> | ||
| <arg name="src_image" value="$(var src_image_0)"/> | ||
| <arg name="src_info" value="$(var src_info_0)"/> | ||
| <arg name="resized_image" value="$(var resized_image_0)"/> | ||
| <arg name="resized_info" value="$(var resized_info_0)"/> | ||
| </include> | ||
| </group> | ||
| <group> | ||
| <push-ros-namespace namespace="imgproc/camera1"/> | ||
| <include file="$(find-pkg-share pcdless_launch)/launch/impl/imgproc.launch.xml"> | ||
| <arg name="src_image" value="$(var src_image_1)"/> | ||
| <arg name="src_info" value="$(var src_info_1)"/> | ||
| <arg name="resized_image" value="$(var resized_image_1)"/> | ||
| <arg name="resized_info" value="$(var resized_info_1)"/> | ||
| </include> | ||
| </group> | ||
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| <!-- twist --> | ||
| <group> | ||
| <push-ros-namespace namespace="twist"/> | ||
| <include file="$(find-pkg-share pcdless_launch)/launch/impl/twist.launch.xml"/> | ||
| </group> | ||
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| <!-- validation --> | ||
| <group> | ||
| <push-ros-namespace namespace="validation/camera0"/> | ||
| <include file="$(find-pkg-share pcdless_launch)/launch/impl/validation.launch.xml"> | ||
| <arg name="input_overlayed_pose" value="$(var input_pose)"/> | ||
| <arg name="resized_image" value="$(var resized_image_0)"/> | ||
| <arg name="resized_info" value="$(var resized_info_0)"/> | ||
| </include> | ||
| </group> | ||
| <group> | ||
| <push-ros-namespace namespace="validation/camera1"/> | ||
| <include file="$(find-pkg-share pcdless_launch)/launch/impl/validation.launch.xml"> | ||
| <arg name="input_overlayed_pose" value="$(var input_pose)"/> | ||
| <arg name="resized_image" value="$(var resized_image_1)"/> | ||
| <arg name="resized_info" value="$(var resized_info_1)"/> | ||
| </include> | ||
| </group> | ||
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| <!-- map --> | ||
| <group> | ||
| <push-ros-namespace namespace="map"/> | ||
| <include file="$(find-pkg-share pcdless_launch)/launch/impl/map.launch.xml"> | ||
| <arg name="input_particle_pose" value="$(var input_pose)"/> | ||
| </include> | ||
| </group> | ||
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| <!-- septentrio ublox converter --> | ||
| <group if="$(var use_septentrio)"> | ||
| <node name="doppler_converter" pkg="doppler_converter" exec="doppler_converter"/> | ||
| </group> | ||
| </group> | ||
| </launch> |
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localization/yabloc/pcdless_launch/launch/tier4_jpntaxi.launch.xml
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| <launch> | ||
| <arg name="standalone" default="true" description="Set to true if not connected to Autoware's P/C."/> | ||
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| <include file="$(find-pkg-share pcdless_launch)/launch/pcdless.launch.xml"> | ||
| <arg name="standalone" value="$(var standalone)"/> | ||
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| <arg name="min_segment_length" value="1.5"/> | ||
| <arg name="max_segment_distance" value="30.0"/> | ||
| <arg name="ignore_less_than_float" value="true"/> | ||
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| <arg name="static_linear_covariance" value="0.04"/> | ||
| <arg name="static_angular_covariance" value="0.0010"/> | ||
| <arg name="static_scale_factor" value="1.00"/> | ||
| <arg name="static_gyro_bias" value="10.0"/> | ||
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| <arg name="road_marking_labels" value="[cross_walk, zebra_marking, line_thin, line_thick, pedestrian_marking, stop_line, road_border]"/> | ||
| <arg name="sign_board_labels" value="[sign-board]"/> | ||
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| <arg name="src_image" value="/sensing/camera/camera0/image_rect_color/compressed"/> | ||
| <arg name="src_info" value="/sensing/camera/camera0/camera_info"/> | ||
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| <arg name="target_height_ratio" value="0.80"/> | ||
| <!-- <arg name="override_camera_frame_id" value="fake_camera_optical_link"/> --> | ||
| <arg name="use_septentrio" value="true"/> | ||
| </include> | ||
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| <node pkg="tf2_ros" exec="static_transform_publisher" name="fake_tf1" args="--frame-id base_link --child-frame-id fake_sensor_kit_base_link --x 0.6 --z 1.7 --yaw 0.03" /> | ||
| <node pkg="tf2_ros" exec="static_transform_publisher" name="fake_tf2" args="--frame-id fake_sensor_kit_base_link --child-frame-id fake_camera_link --x 0.8703194 --y 0.01868 --z 0.09616 --roll -0.000664 --pitch 0.0085596 --yaw -0.01503"/> | ||
| <node pkg="tf2_ros" exec="static_transform_publisher" name="fake_tf3" args="--frame-id fake_camera_link --child-frame-id fake_camera_optical_link --roll -1.57 --yaw -1.57" /> | ||
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| </launch> |
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localization/yabloc/pcdless_launch/launch/tier4_jpntaxi_multi.launch.xml
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| <launch> | ||
| <arg name="standalone" default="true" description="Set to true if not connected to Autoware's P/C."/> | ||
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| <include file="$(find-pkg-share pcdless_launch)/launch/pcdless_multi_camera.launch.xml"> | ||
| <arg name="standalone" value="$(var standalone)"/> | ||
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| <arg name="min_segment_length" value="1.5"/> | ||
| <arg name="max_segment_distance" value="30.0"/> | ||
| <arg name="ignore_less_than_float" value="true"/> | ||
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| <arg name="static_linear_covariance" value="0.04"/> | ||
| <arg name="static_angular_covariance" value="0.0010"/> | ||
| <arg name="static_scale_factor" value="1.00"/> | ||
| <arg name="static_gyro_bias" value="10.0"/> | ||
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| <arg name="road_marking_labels" value="[cross_walk, zebra_marking, line_thin, line_thick, pedestrian_marking, stop_line, road_border]"/> | ||
| <arg name="sign_board_labels" value="[sign-board]"/> | ||
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| <arg name="src_image_0" value="/sensing/camera/camera0/image_rect_color/compressed"/> | ||
| <arg name="src_info_0" value="/sensing/camera/camera0/camera_info"/> | ||
| <arg name="src_image_1" value="/sensing/camera/camera1/image_rect_color/compressed"/> | ||
| <arg name="src_info_1" value="/sensing/camera/camera1/camera_info"/> | ||
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| <arg name="target_height_ratio" value="0.80"/> | ||
| <!-- <arg name="override_camera_frame_id" value="fake_camera_optical_link"/> --> | ||
| <arg name="use_septentrio" value="true"/> | ||
| </include> | ||
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| <node pkg="tf2_ros" exec="static_transform_publisher" name="fake_tf1" args="--frame-id base_link --child-frame-id fake_sensor_kit_base_link --x 0.6 --z 1.7 --yaw 0.03" /> | ||
| <node pkg="tf2_ros" exec="static_transform_publisher" name="fake_tf2" args="--frame-id fake_sensor_kit_base_link --child-frame-id fake_camera_link --x 0.8703194 --y 0.01868 --z 0.09616 --roll -0.000664 --pitch 0.0085596 --yaw -0.01503"/> | ||
| <node pkg="tf2_ros" exec="static_transform_publisher" name="fake_tf3" args="--frame-id fake_camera_link --child-frame-id fake_camera_optical_link --roll -1.57 --yaw -1.57" /> | ||
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| </launch> |