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apply concatenate node update #62

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apply concatenate node update #62

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f1b7294
apply concatenate node update
YoshiRi Jul 17, 2023
9331697
style(pre-commit): autofix
pre-commit-ci[bot] Jul 17, 2023
0e7fff8
fix spelling and sign off
YoshiRi Jul 25, 2023
b710878
fix config load error
YoshiRi Jul 25, 2023
b79faef
style(pre-commit): autofix
pre-commit-ci[bot] Jul 25, 2023
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97 changes: 76 additions & 21 deletions sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -26,28 +26,82 @@


def launch_setup(context, *args, **kwargs):
# set concat filter as a component
concat_component = ComposableNode(
package="pointcloud_preprocessor",
plugin="pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
name="concatenate_data",
remappings=[
("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
("output", "concatenated/pointcloud"),
],
parameters=[
{
"input_topics": [
"/sensing/lidar/top/outlier_filtered/pointcloud",
"/sensing/lidar/left/outlier_filtered/pointcloud",
"/sensing/lidar/right/outlier_filtered/pointcloud",
],
"output_frame": LaunchConfiguration("base_frame"),
}
],
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
# set concatenate filter as a component

separate_concatenate_node_and_timesync_node_str = LaunchConfiguration(
"separate_concatenate_node_and_timesync_node"
).perform(context)
separate_concatenate_node_and_timesync_node = (
separate_concatenate_node_and_timesync_node_str.lower() == "true"
)

# switch between sync_and_concatenate_filter and synchronizer_filter
if not separate_concatenate_node_and_timesync_node:
sync_and_concat_component = ComposableNode(
package="pointcloud_preprocessor",
plugin="pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
name="sync_and_concatenate_filter",
remappings=[
("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
("output", "concatenated/pointcloud"),
],
parameters=[
{
"input_topics": [
"/sensing/lidar/top/outlier_filtered/pointcloud",
"/sensing/lidar/left/outlier_filtered/pointcloud",
"/sensing/lidar/right/outlier_filtered/pointcloud",
],
"output_frame": LaunchConfiguration("base_frame"),
"approximate_sync": True,
"publish_synchronized_pointcloud": True, # set true if you want to publish synchronized pointcloud
}
],
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
)
concat_components = [sync_and_concat_component]
else:
time_sync_component = ComposableNode(
package="pointcloud_preprocessor",
plugin="pointcloud_preprocessor::PointCloudDataSynchronizerComponent",
name="synchronizer_filter",
remappings=[
("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
],
parameters=[
{
"input_topics": [
"/sensing/lidar/top/outlier_filtered/pointcloud",
"/sensing/lidar/left/outlier_filtered/pointcloud",
"/sensing/lidar/right/outlier_filtered/pointcloud",
],
"output_frame": LaunchConfiguration("base_frame"),
"approximate_sync": True,
}
],
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
)

concat_component = ComposableNode(
package="pointcloud_preprocessor",
plugin="pointcloud_preprocessor::PointCloudConcatenationComponent",
name="concatenate_filter",
remappings=[("output", "points_raw/concatenated")],
parameters=[
{
"input_topics": [
"/sensing/lidar/top/outlier_filtered/pointcloud_synchronized",
"/sensing/lidar/left/outlier_filtered/pointcloud_synchronized",
"/sensing/lidar/right/outlier_filtered/pointcloud_synchronized",
Comment on lines +93 to +95
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/sensing/lidar/top/synchronized/pointcloud sounds better to me, like other nodes output

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If you want that, I need to update concatenate node file because its output topic names is created by adding "_synchronized" to the original message.

https://github.com/autowarefoundation/autoware.universe/pull/3312/files#diff-212becb09e27b26d36fa3eb6730c0100e20803559efd9e20e8901d2a57aceff0R64:~:text=%23define%20POSTFIX_NAME%20%22_synchronized%22

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Ahh... I do want, but not urgent.
Defining like ~/synchronized/pointcloud in codes, and passing (or remapping) actual topic name from launcher is almost autoware coding manner.

],
"output_frame": LaunchConfiguration("base_frame"),
"approximate_sync": True,
}
],
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
)
concat_components = [time_sync_component, concat_component]

# set container to run all required components in the same process
container = ComposableNodeContainer(
name=LaunchConfiguration("container_name"),
Expand All @@ -67,7 +121,7 @@ def launch_setup(context, *args, **kwargs):

# load concat or passthrough filter
concat_loader = LoadComposableNodes(
composable_node_descriptions=[concat_component],
composable_node_descriptions=concat_components,
target_container=target_container,
condition=IfCondition(LaunchConfiguration("use_concat_filter")),
)
Expand All @@ -86,6 +140,7 @@ def add_launch_arg(name: str, default_value=None):
add_launch_arg("use_intra_process", "False")
add_launch_arg("use_pointcloud_container", "False")
add_launch_arg("container_name", "pointcloud_preprocessor_container")
add_launch_arg("separate_concatenate_node_and_timesync_node", "False")

set_container_executable = SetLaunchConfiguration(
"container_executable",
Expand Down