refactor(image_projection_based_fusion): convert input topic names to ROS parameters #4247
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Codecov ReportPatch coverage has no change and project coverage change:
Additional details and impacted files@@ Coverage Diff @@
## main #4247 +/- ##
==========================================
+ Coverage 15.07% 15.29% +0.22%
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Files 1508 1489 -19
Lines 103678 101811 -1867
Branches 31647 31081 -566
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- Hits 15625 15577 -48
+ Misses 71046 69371 -1675
+ Partials 17007 16863 -144
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Signed-off-by: ismetatabay <ismet@leodrive.ai>
Signed-off-by: ismetatabay <ismet@leodrive.ai>
Signed-off-by: ismetatabay <ismet@leodrive.ai>
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@ismetatabay Cloud you check
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Signed-off-by: ismet <ismet@leodrive.ai>
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@yukke42 Hi thanks for your review 👍 , I updated |
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… ROS parameters (autowarefoundation#4247) * init commit Signed-off-by: ismetatabay <ismet@leodrive.ai> * style(pre-commit): autofix Signed-off-by: ismetatabay <ismet@leodrive.ai> * update pointpainting and roi_detected_object_fusion_launch Signed-off-by: ismetatabay <ismet@leodrive.ai> * correct argument and param definitions Signed-off-by: ismetatabay <ismet@leodrive.ai> --------- Signed-off-by: ismetatabay <ismet@leodrive.ai> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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Description
This PR prepares the image_projection_based_fusion node to read input topics from ROS parameters. (This refactoring needed because if we move the all node parameters into a param.yaml file, we cannot read "input_rois_number" in .xml launch file. So, we cannot set remap topics in .xml launch file.)
Related links
#4250
Tests performed
This PR tested on real vehicle and everything works as expected
Notes for reviewers
Interface changes
The fusion node input topic names described as ROS 2 parameter, and it topics migrates from perception.launch.xml and camera_lidar_based_fusion.launch.xml.
Effects on system behavior
None
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