feat(pointcloud_preprocessor): publish excluded points in ring_outlier_filter for debug purpose

[kyoichi-sugahara]

Description

Publish excluded points in ring_outlier_filter for visualization.
This feature is disabled by default.

The white points have been excluded by the ring_outlier_filter, whereas the colorful points represent the pointcloud after the ring_outlier_filter.

Tests performed

running logging_simulator with enabling sensing moudle.

How to check this feature

1. Visualizing filtered/excluded pointcloud in rviz by applying following change

necessary change for autoware.rviz

    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 5
        Min Value: -10
        Value: false
      Axis: Z
      Channel Name: intensity
      Class: rviz_default_plugins/PointCloud2
      Color: 255; 255; 255
      Color Transformer: Intensity
      Decay Time: 0
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: 79
      Min Color: 0; 0; 0
      Min Intensity: 1
      Name: left filterd points
      Position Transformer: XYZ
      Selectable: false
      Size (Pixels): 2
      Size (m): 0.019999999552965164
      Style: Points
      Topic:
        Depth: 5
        Durability Policy: Volatile
        Filter size: 10
        History Policy: Keep Last
        Reliability Policy: Best Effort
        Value: /sensing/lidar/left/pointcloud
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 5
        Min Value: -10
        Value: false
      Axis: Z
      Channel Name: intensity
      Class: rviz_default_plugins/PointCloud2
      Color: 255; 255; 255
      Color Transformer: FlatColor
      Decay Time: 0
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: 4096
      Min Color: 0; 0; 0
      Min Intensity: 0
      Name: left lidar excluded points
      Position Transformer: XYZ
      Selectable: false
      Size (Pixels): 7
      Size (m): 0.019999999552965164
      Style: Points
      Topic:
        Depth: 5
        Durability Policy: Volatile
        Filter size: 10
        History Policy: Keep Last
        Reliability Policy: Best Effort
        Value: /sensing/lidar/left/debug/ring_outlier_filter
      Use Fixed Frame: true
      Use rainbow: true
      Value: true

2. launch logging_simulator with following commnad

ros2 launch autoware_launch logging_simulator.launch.xml map_path:=/path_to_your_map vehicle_model:=lexus sensor_model:=aip_xx1 sensing:=true

3. Enabling this feature (for left lidar for example) with following command

ros2 param set /sensing/lidar/left/ring_outlier_filter publish_excluded_points true

4. play rosbag

sample rosbag for TIER IV developer
TIERIV INTERNAL LINK
Basically I expect this feature works with any rosbag file though.

Effects on system behavior

Not applicable.

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[codecov]

Codecov Report

Attention: Patch coverage is 0% with 36 lines in your changes are missing coverage. Please review.

Project coverage is 14.63%. Comparing base (e64415b) to head (2ae8c9f).
Report is 4 commits behind head on main.

Files	Patch %	Lines
...src/outlier_filter/ring_outlier_filter_nodelet.cpp	0.00%	36 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6483      +/-   ##
==========================================
- Coverage   14.63%   14.63%   -0.01%     
==========================================
  Files        1900     1900              
  Lines      130645   130678      +33     
  Branches    38381    38381              
==========================================
  Hits        19123    19123              
- Misses      90064    90097      +33     
  Partials    21458    21458              

Flag	Coverage Δ		*Carryforward flag
differential	5.21% <0.00%> (?)
total	14.63% <ø> (+<0.01%)	⬆️	Carriedforward from e64415b

*This pull request uses carry forward flags. Click here to find out more.

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[badai-nguyen]

LGTM

[xmfcx]

Updated with a rebase because this PR is merged:

• ci(build-and-test-differential): remove non-cuda job #6495