refactor(autoware_pointcloud_preprocessor): rework lanelet2 map filte…

…r parameters (autowarefoundation#8491) * feat: rework lanelet2 map filter parameters Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: remove unrelated files Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix: fix node name in launch Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix launcher Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix spell error Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: add boundary Signed-off-by: vividf <yihsiang.fang@tier4.jp> --------- Signed-off-by: vividf <yihsiang.fang@tier4.jp>
a-maumau · Aug 22, 2024 · 44e0535 · 44e0535
1 parent cf6859e
commit 44e0535
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Showing 7 changed files with 66 additions and 13 deletions.
diff --git a/sensing/autoware_pointcloud_preprocessor/CMakeLists.txt b/sensing/autoware_pointcloud_preprocessor/CMakeLists.txt
@@ -78,7 +78,7 @@ ament_auto_add_library(pointcloud_preprocessor_filter SHARED
   src/passthrough_filter/passthrough_filter_uint16_nodelet.cpp
   src/passthrough_filter/passthrough_uint16.cpp
   src/pointcloud_accumulator/pointcloud_accumulator_nodelet.cpp
-  src/vector_map_filter/lanelet2_map_filter_nodelet.cpp
+  src/vector_map_filter/lanelet2_map_filter_node.cpp
   src/distortion_corrector/distortion_corrector.cpp
   src/distortion_corrector/distortion_corrector_node.cpp
   src/blockage_diag/blockage_diag_node.cpp

diff --git a/sensing/autoware_pointcloud_preprocessor/config/lanelet2_map_filter_node.param.yaml b/sensing/autoware_pointcloud_preprocessor/config/lanelet2_map_filter_node.param.yaml
@@ -0,0 +1,4 @@
+/**:
+  ros__parameters:
+    voxel_size_x: 0.04
+    voxel_size_y: 0.04
diff --git a/sensing/autoware_pointcloud_preprocessor/docs/vector-map-filter.md b/sensing/autoware_pointcloud_preprocessor/docs/vector-map-filter.md
@@ -25,10 +25,7 @@ The `vector_map_filter` is a node that removes points on the outside of lane by
 
 ### Core Parameters
 
-| Name           | Type   | Default Value | Description |
-| -------------- | ------ | ------------- | ----------- |
-| `voxel_size_x` | double | 0.04          | voxel size  |
-| `voxel_size_y` | double | 0.04          | voxel size  |
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/lanelet2_map_filter_node.schema.json") }}
 
 ## Assumptions / Known limits
 

diff --git a/...ap_filter/lanelet2_map_filter_nodelet.hpp → ...r_map_filter/lanelet2_map_filter_node.hpp b/...ap_filter/lanelet2_map_filter_nodelet.hpp → ...r_map_filter/lanelet2_map_filter_node.hpp
@@ -1,4 +1,4 @@
-// Copyright 2020 Tier IV, Inc.
+// Copyright 2024 TIER IV, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__VECTOR_MAP_FILTER__LANELET2_MAP_FILTER_NODELET_HPP_
-#define AUTOWARE__POINTCLOUD_PREPROCESSOR__VECTOR_MAP_FILTER__LANELET2_MAP_FILTER_NODELET_HPP_
+#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__VECTOR_MAP_FILTER__LANELET2_MAP_FILTER_NODE_HPP_
+#define AUTOWARE__POINTCLOUD_PREPROCESSOR__VECTOR_MAP_FILTER__LANELET2_MAP_FILTER_NODE_HPP_
 
 #include <autoware/universe_utils/geometry/boost_geometry.hpp>
 #include <autoware_lanelet2_extension/utility/message_conversion.hpp>
@@ -97,4 +97,4 @@ class Lanelet2MapFilterComponent : public rclcpp::Node
 
 }  // namespace autoware::pointcloud_preprocessor
 
-#endif  // AUTOWARE__POINTCLOUD_PREPROCESSOR__VECTOR_MAP_FILTER__LANELET2_MAP_FILTER_NODELET_HPP_
+#endif  // AUTOWARE__POINTCLOUD_PREPROCESSOR__VECTOR_MAP_FILTER__LANELET2_MAP_FILTER_NODE_HPP_
diff --git a/sensing/autoware_pointcloud_preprocessor/launch/lanelet2_map_filter_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/lanelet2_map_filter_node.launch.xml
@@ -0,0 +1,12 @@
+<launch>
+  <arg name="input_vector_map" default="/map/vector_map"/>
+  <arg name="input_pointcloud" default="detection_area/pointcloud"/>
+  <arg name="output_pointcloud" default="vector_map_filtered/pointcloud"/>
+  <arg name="lanelet2_map_filter_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/lanelet2_map_filter_node.param.yaml"/>
+  <node pkg="autoware_pointcloud_preprocessor" exec="vector_map_filter_node" name="vector_map_filter_node">
+    <param from="$(var lanelet2_map_filter_param_file)"/>
+    <remap from="input/vector_map" to="$(var input_vector_map)"/>
+    <remap from="input/pointcloud" to="$(var input_pointcloud)"/>
+    <remap from="output" to="$(var output_pointcloud)"/>
+  </node>
+</launch>
diff --git a/sensing/autoware_pointcloud_preprocessor/schema/lanelet2_map_filter_node.schema.json b/sensing/autoware_pointcloud_preprocessor/schema/lanelet2_map_filter_node.schema.json
@@ -0,0 +1,40 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Lanelet2 Map Filter Node",
+  "type": "object",
+  "definitions": {
+    "lanelet2_map_filter": {
+      "type": "object",
+      "properties": {
+        "voxel_size_x": {
+          "type": "number",
+          "description": "voxel size along x-axis [m]",
+          "default": "0.04",
+          "minimum": 0
+        },
+        "voxel_size_y": {
+          "type": "number",
+          "description": "voxel size along y-axis [m]",
+          "default": "0.04",
+          "minimum": 0
+        }
+      },
+      "required": ["voxel_size_x", "voxel_size_y"],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/lanelet2_map_filter"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}
diff --git a/...ap_filter/lanelet2_map_filter_nodelet.cpp → ...r_map_filter/lanelet2_map_filter_node.cpp b/...ap_filter/lanelet2_map_filter_nodelet.cpp → ...r_map_filter/lanelet2_map_filter_node.cpp
@@ -1,4 +1,4 @@
-// Copyright 2020 Tier IV, Inc.
+// Copyright 2024 TIER IV, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware/pointcloud_preprocessor/vector_map_filter/lanelet2_map_filter_nodelet.hpp"
+#include "autoware/pointcloud_preprocessor/vector_map_filter/lanelet2_map_filter_node.hpp"
 
 #include "autoware/pointcloud_preprocessor/filter.hpp"
 
@@ -39,8 +39,8 @@ Lanelet2MapFilterComponent::Lanelet2MapFilterComponent(const rclcpp::NodeOptions
 
   // Set parameters
   {
-    voxel_size_x_ = declare_parameter("voxel_size_x", 0.04);
-    voxel_size_y_ = declare_parameter("voxel_size_y", 0.04);
+    voxel_size_x_ = declare_parameter<float>("voxel_size_x");
+    voxel_size_y_ = declare_parameter<float>("voxel_size_y");
   }
 
   // Set publisher