feat(distortion_corrector): change input pointcloud from outside of l…

…aunch file (tier4#257) (tier4#242) * feat: change input pointcloud from outside of launch file (tier4#257) * change localization util input topic * add arg to input arbitrary lidar topic to perception module * remove default value except autoware and logging launch * add default value in localization and perception launch * remove default value from root launch file * change input_sensor_points_topic to input/pointcloud * cosmetic change * feat: use pointcloud container * feat: move into util * ci(pre-commit): autofix * feat: make final output topic arg * fix: typo * fix: some lack things * fix: revert use pointcloud container * change to work tutorial Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * change to work tutorial Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: h-ohta <hiroki.ota@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * fix : to outlier_filtered/pointcloud Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * fix: add missing arg * fix : topic arg Signed-off-by: tanaka3 <ttatcoder@outlook.jp> Co-authored-by: Taichi Higashide <azumade.30@gmail.com> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: h-ohta <hiroki.ota@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
boyali · May 19, 2022 · 519977a · 519977a
1 parent b849f2b
commit 519977a
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Showing 8 changed files with 40 additions and 32 deletions.
diff --git a/localization_launch/launch/localization.launch.xml b/localization_launch/launch/localization.launch.xml
@@ -1,12 +1,17 @@
 <?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"/>
+
   <!-- localization module -->
   <group>
     <push-ros-namespace namespace="localization"/>
     <!-- util module -->
     <group>
       <push-ros-namespace namespace="util"/>
       <include file="$(find-pkg-share localization_launch)/launch/util/util.launch.xml">
+        <arg name="input/pointcloud" value="$(var input/pointcloud)" />
+        <arg name="container" value="$(var container)"/>
       </include>
     </group>
     <!-- pose_estimator module -->

diff --git a/localization_launch/launch/pose_estimator/pose_estimator.launch.xml b/localization_launch/launch/pose_estimator/pose_estimator.launch.xml
@@ -3,7 +3,7 @@
 
   <include file="$(find-pkg-share ndt_scan_matcher)/launch/ndt_scan_matcher.launch.xml">
     <arg name="input_map_points_topic" value="/map/pointcloud_map"/>
-    <arg name="input_sensor_points_topic" value="/localization/util/downsample/pointcloud"/>
+    <arg name="input/pointcloud" value="/localization/util/downsample/pointcloud"/>
     <arg name="input_initial_pose_topic" value="/localization/pose_twist_fusion_filter/pose_with_covariance_without_yawbias"/>
 
 

diff --git a/localization_launch/launch/util/util.launch.py b/localization_launch/launch/util/util.launch.py
@@ -106,16 +106,6 @@ 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(
-        "container",
-        "/sensing/lidar/top/pointcloud_preprocessor/velodyne_node_container",
-        "container name",
-    )
-    add_launch_arg(
-        "input_sensor_points_topic",
-        "/sensing/lidar/top/rectified/pointcloud",
-        "input topic name for raw pointcloud",
-    )
     add_launch_arg(
         "output_measurement_range_sensor_points_topic",
         "measurement_range/pointcloud",

diff --git a/localization_launch/launch/util/util.launch.xml b/localization_launch/launch/util/util.launch.xml
@@ -1,22 +1,19 @@
 <?xml version="1.0"?>
 <launch>
 
-  <!-- Topics -->
-  <arg name="input_sensor_points_topic" default="/sensing/lidar/top/rectified/pointcloud" description="input topic name for raw pointcloud"/>
-  <arg name="output_measurement_range_sensor_points_topic" default="measurement_range/pointcloud" description="output topic name for crop box filter"/>
-  <arg name="output_voxel_grid_downsample_sensor_points_topic" default="voxel_grid_downsample/pointcloud" description="output topic name for voxel grid downsample filter"/>
-  <arg name="output_downsample_sensor_points_topic" default="downsample/pointcloud" description="output topic name for downsample filter. this is final output"/>
-
-  <!-- container -->
-  <arg name="container" default="/sensing/lidar/top/pointcloud_preprocessor/velodyne_node_container"  description="container name"/>
-
-  <!-- option -->
+  <arg name="input/pointcloud" description="input topic name"/>
+  <arg name="output/pointcloud" default="downsample/pointcloud" description="final output topic name"/>
+  <arg name="container" description="container name which input topic belongs"/>
   <arg name="use_intra_process" default="true" description="use ROS2 component container communication"/>
 
   <!-- pose_initializer -->
   <include file="$(find-pkg-share pose_initializer)/launch/pose_initializer.launch.xml" />
 
   <!-- util -->
-  <include file="$(find-pkg-share localization_launch)/launch/util/util.launch.py" />
-
+  <include file="$(find-pkg-share localization_launch)/launch/util/util.launch.py">
+    <arg name="input_sensor_points_topic" value="$(var input/pointcloud)"/>
+    <arg name="output_downsample_sensor_points_topic" value="$(var output/pointcloud)"/>
+    <arg name="container" value="$(var container)"/>
+    <arg name="use_intra_process" value="$(var use_intra_process)"/>
+  </include>
 </launch>
diff --git a/...launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/...launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
@@ -1,5 +1,7 @@
 <?xml version="1.0"?>
 <launch>
+  <arg name="input/pointcloud" />
+  <arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
   <arg name="image_raw0" default="/image_raw" description="image raw topic name"/>
   <arg name="camera_info0" default="/camera_info" description="camera info topic name"/>
   <arg name="image_raw1" default="/image_raw1"/>
@@ -51,7 +53,7 @@
   <group>
     <push-ros-namespace namespace="clustering"/>
     <let name="clustering/input/pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud" if="$(var use_pointcloud_map)"/>
-    <let name="clustering/input/pointcloud" value="$(var input_pointcloud)" unless="$(var use_pointcloud_map)"/>
+    <let name="clustering/input/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)" unless="$(var use_pointcloud_map)"/>
     <include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
       <arg name="input_pointcloud" value="$(var clustering/input/pointcloud)"/>
       <arg name="output_clusters" value="clusters"/>
@@ -114,6 +116,7 @@
   <group if="$(eval &quot;'$(var lidar_detection_model)'=='centerpoint'&quot;)">
     <push-ros-namespace namespace="centerpoint"/>
     <include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml">
+      <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="output/objects" value="objects" />
     </include>
   </group>
@@ -122,7 +125,9 @@
   <group if="$(eval &quot;'$(var lidar_detection_model)'=='apollo'&quot;)">
     <push-ros-namespace namespace="apollo"/>
     <group>
-      <include file="$(find-pkg-share lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch.xml" />
+      <include file="$(find-pkg-share lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch.xml">
+        <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
+      </include>
       <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
         <arg name="output/objects" value="objects_with_feature"/>
         <arg name="use_vehicle_reference_yaw" value="true"/>
@@ -138,7 +143,7 @@
   <!-- Validator -->
   <group>
     <let name="validator/input/obstacle_pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud" if="$(var use_pointcloud_map)"/>
-    <let name="validator/input/obstacle_pointcloud" value="$(var input_pointcloud)" unless="$(var use_pointcloud_map)"/>
+    <let name="validator/input/obstacle_pointcloud" value="$(var input/obstacle_segmentation/pointcloud)" unless="$(var use_pointcloud_map)"/>
     <include file="$(find-pkg-share detected_object_validation)/launch/obstacle_pointcloud_based_validator.launch.xml">
       <arg name="input/detected_objects" value="$(var lidar_detection_model)/objects"/>
       <arg name="input/obstacle_pointcloud" value="$(var validator/input/obstacle_pointcloud)"/>

diff --git a/perception_launch/launch/object_recognition/detection/detection.launch.xml b/perception_launch/launch/object_recognition/detection/detection.launch.xml
@@ -1,8 +1,9 @@
 <?xml version="1.0"?>
 
 <launch>
-  <arg name="mode" default="camera_lidar_fusion" description="options: `camera_lidar_fusion`, `lidar` or `camera`"/>
-  <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
+  <arg name="input/pointcloud" />
+  <arg name="mode" default="lidar" description="options: `camera_lidar_fusion`, `lidar` or `camera`"/>
+  <arg name="lidar_detection_model" default="apollo" description="options: `centerpoint`, `apollo`"/>
   <!-- "camera_lidar_fusion", "lidar" or "camera" -->
   <arg name="image_raw0" default="/image_raw" description="image raw topic name"/>
   <arg name="camera_info0" default="/camera_info" description="camera info topic name"/>
@@ -28,6 +29,7 @@
   <!-- camera lidar fusion based detection-->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_fusion&quot;')">
     <include file="$(find-pkg-share perception_launch)/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml">
+      <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="image_raw0" value="$(var image_raw0)"/>
       <arg name="camera_info0" value="$(var camera_info0)"/>
       <arg name="image_raw1" value="$(var image_raw1)"/>
@@ -54,6 +56,7 @@
   <!-- lidar based detection-->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;lidar&quot;')">
     <include file="$(find-pkg-share perception_launch)/launch/object_recognition/detection/lidar_based_detection.launch.xml">
+      <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>

diff --git a/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
@@ -1,5 +1,7 @@
 <?xml version="1.0"?>
 <launch>
+  <arg name="input/pointcloud"/>
+  <arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
   <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
   <arg name="input_pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
@@ -22,7 +24,7 @@
   <group>
     <push-ros-namespace namespace="clustering"/>
     <let name="clustering/input/pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud" if="$(var use_pointcloud_map)"/>
-    <let name="clustering/input/pointcloud" value="$(var input_pointcloud)" unless="$(var use_pointcloud_map)"/>
+    <let name="clustering/input/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)" unless="$(var use_pointcloud_map)"/>
     <include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
       <arg name="input_pointcloud" value="$(var clustering/input/pointcloud)"/>
       <arg name="output_clusters" value="clusters"/>
@@ -41,15 +43,19 @@
   <group if="$(eval &quot;'$(var lidar_detection_model)'=='centerpoint'&quot;)">
     <push-ros-namespace namespace="centerpoint"/>
     <group>
-      <include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml" />
+      <include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml">
+        <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
+      </include>
     </group>
   </group>
 
   <!-- Lidar Apollo Instance Segmentation -->
   <group if="$(eval &quot;'$(var lidar_detection_model)'=='apollo'&quot;)">
     <push-ros-namespace namespace="apollo"/>
     <group>
-      <include file="$(find-pkg-share lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch.xml" />
+      <include file="$(find-pkg-share lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch.xml">
+        <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
+      </include>
       <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
         <arg name="output/objects" value="objects_with_feature"/>
         <arg name="use_vehicle_reference_yaw" value="true"/>
@@ -65,7 +71,7 @@
   <!-- Validator -->
   <group>
     <let name="validator/input/obstacle_pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud" if="$(var use_pointcloud_map)"/>
-    <let name="validator/input/obstacle_pointcloud" value="$(var input_pointcloud)" unless="$(var use_pointcloud_map)"/>
+    <let name="validator/input/obstacle_pointcloud" value="$(var input/obstacle_segmentation/pointcloud)" unless="$(var use_pointcloud_map)"/>
     <include file="$(find-pkg-share detected_object_validation)/launch/obstacle_pointcloud_based_validator.launch.xml">
       <arg name="input/detected_objects" value="$(var lidar_detection_model)/objects"/>
       <arg name="input/obstacle_pointcloud" value="$(var validator/input/obstacle_pointcloud)"/>

diff --git a/perception_launch/launch/perception.launch.xml b/perception_launch/launch/perception.launch.xml
@@ -2,6 +2,7 @@
 
 <launch>
   <!-- common parameters -->
+  <arg name="input/pointcloud" default="/sensing/lidar/top/outlier_filtered/pointcloud" description="The topic will be used in the detection module"/>
   <arg name="mode" default="lidar" description="options: `camera_lidar_fusion`, `lidar` or `camera`"/>
   <arg name="image_raw0" default="/sensing/camera/camera0/image_rect_color" description="image raw topic name"/>
   <arg name="camera_info0" default="/sensing/camera/camera0/camera_info" description="camera info topic name"/>
@@ -64,6 +65,7 @@
         <push-ros-namespace namespace="detection"/>
         <include file="$(find-pkg-share perception_launch)/launch/object_recognition/detection/detection.launch.xml">
           <arg name="mode" value="$(var mode)"/>
+          <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
           <arg name="image_raw0" value="$(var image_raw0)"/>
           <arg name="camera_info0" value="$(var camera_info0)"/>
           <arg name="image_raw1" value="$(var image_raw1)"/>