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feat(tier4_localization_launch): pass pc container to localization #2114

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merged 4 commits into from
Nov 14, 2022
Merged

feat(tier4_localization_launch): pass pc container to localization #2114

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05b2804
feature(tier4_localization_launch): pass pc container to localization
kaancolak Oct 19, 2022
34e6bd7
ci(pre-commit): autofix
pre-commit-ci[bot] Oct 19, 2022
af61b67
feature(tier4_localization_launch): update util.launch.xml
kaancolak Nov 2, 2022
07f3fe5
feature(tier4_localization_launch): update use container param value
kaancolak Nov 7, 2022
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6 changes: 4 additions & 2 deletions launch/tier4_localization_launch/launch/localization.launch.xml
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Original file line number Diff line number Diff line change
@@ -1,7 +1,8 @@
<?xml version="1.0"?>
<launch>
<arg name="input/pointcloud" default="/sensing/lidar/top/outlier_filtered/pointcloud" description="The topic will be used in the localization util module"/>
<arg name="container" default="/sensing/lidar/top/pointcloud_preprocessor/velodyne_node_container"/>
<arg name="use_pointcloud_container" default="true" description="launch pointcloud container"/>
<arg name="pointcloud_container_name" default="pointcloud_container"/>

<arg name="tier4_localization_launch_param_path" default="$(find-pkg-share tier4_localization_launch)/config" description="tier4_localization_launch parameter path"/>

Expand All @@ -13,7 +14,8 @@
<push-ros-namespace namespace="util"/>
<include file="$(find-pkg-share tier4_localization_launch)/launch/util/util.launch.xml">
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
<arg name="container" value="$(var container)"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
<arg name="tier4_localization_launch_param_path" value="$(var tier4_localization_launch_param_path)"/>
</include>
</group>
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17 changes: 13 additions & 4 deletions launch/tier4_localization_launch/launch/util/util.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,7 @@
from launch.actions import DeclareLaunchArgument
from launch.actions import OpaqueFunction
from launch.conditions import LaunchConfigurationNotEquals
from launch.conditions import UnlessCondition
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import LoadComposableNodes
from launch_ros.descriptions import ComposableNode
Expand Down Expand Up @@ -71,10 +72,16 @@ def load_composable_node_param(param_path):
random_downsample_component,
]

target_container = (
"/sensing/lidar/top/pointcloud_preprocessor/pointcloud_container"
if UnlessCondition(LaunchConfiguration("use_pointcloud_container")).evaluate(context)
else LaunchConfiguration("pointcloud_container_name")
)

load_composable_nodes = LoadComposableNodes(
condition=LaunchConfigurationNotEquals("container", ""),
condition=LaunchConfigurationNotEquals(target_container, ""),
composable_node_descriptions=composable_nodes,
target_container=LaunchConfiguration("container"),
target_container=target_container,
)

return [load_composable_nodes]
Expand Down Expand Up @@ -117,11 +124,13 @@ def add_launch_arg(name: str, default_value=None, description=None):
"path to the parameter file of random_downsample_filter",
)
add_launch_arg("use_intra_process", "true", "use ROS2 component container communication")
add_launch_arg("use_pointcloud_container", "True", "use pointcloud container")
add_launch_arg(
"container",
"/sensing/lidar/top/pointcloud_preprocessor/velodyne_node_container",
"pointcloud_container_name",
"/pointcloud_container",
"container name",
)

add_launch_arg(
"output/pointcloud",
"downsample/pointcloud",
Expand Down
6 changes: 4 additions & 2 deletions launch/tier4_localization_launch/launch/util/util.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,8 @@
<arg name="output/pointcloud" default="downsample/pointcloud" description="final output topic name"/>

<!-- container -->
<arg name="container" default="/sensing/lidar/top/pointcloud_preprocessor/velodyne_node_container" description="container name"/>
<arg name="use_pointcloud_container" default="True" description="launch pointcloud container"/>
<arg name="pointcloud_container_name" default="/pointcloud_container" description="container name"/>

<!-- option -->
<arg name="use_intra_process" default="true" description="use ROS2 component container communication"/>
Expand All @@ -31,7 +32,8 @@
<arg name="tier4_localization_launch_param_path" value="$(var tier4_localization_launch_param_path)"/>
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
<arg name="output/pointcloud" value="$(var output/pointcloud)"/>
<arg name="container" value="$(var container)"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
<arg name="use_intra_process" value="$(var use_intra_process)"/>
</include>
</group>
Expand Down