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feat(tier4_perception_launch): refactored occupancy_grid_map launcher #3058

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merged 11 commits into from
Apr 10, 2023
Merged

feat(tier4_perception_launch): refactored occupancy_grid_map launcher #3058

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857d117
rebase on to master
YoshiRi Mar 8, 2023
2db65a2
rebase to main
YoshiRi Mar 8, 2023
6570e04
fix config and launch file
YoshiRi Mar 10, 2023
b34c3cd
fixed laserscan based launcher
YoshiRi Mar 11, 2023
74c40dd
add filter func to extract obstacle pc in sensor
YoshiRi Mar 11, 2023
9f2b884
add switchable launcher
YoshiRi Mar 13, 2023
7095da9
back to pointcloud based method
YoshiRi Mar 16, 2023
f9fa499
remove unused launch.py
YoshiRi Mar 17, 2023
04c545d
fix: fix and refactor launch.py
YoshiRi Mar 17, 2023
2f32826
document: update README
YoshiRi Mar 17, 2023
042945d
enable to change origins by lanch args
YoshiRi Mar 31, 2023
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155 changes: 0 additions & 155 deletions ..._perception_launch/launch/occupancy_grid_map/laserscan_based_occupancy_grid_map.launch.py
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100 changes: 0 additions & 100 deletions ...perception_launch/launch/occupancy_grid_map/pointcloud_based_occupancy_grid_map.launch.py
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49 changes: 49 additions & 0 deletions ...4_perception_launch/launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml
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@@ -0,0 +1,49 @@
<?xml version="1.0"?>
<launch>
<!--default parameter follows node setting -->
<arg name="input/obstacle_pointcloud" default="concatenated/pointcloud"/>
<arg name="input/raw_pointcloud" default="no_ground/oneshot/pointcloud"/>
<arg name="output" default="/perception/occupancy_grid_map/map"/>
<arg name="use_intra_process" default="false"/>
<arg name="use_multithread" default="false"/>
<arg name="use_pointcloud_container" default="false"/>
<arg name="container_name" default="occupancy_grid_map_container"/>
<arg name="scan_origin" default="base_link"/>
<arg name="map_origin" default="base_link"/>

<!--default parameter follows node setting -->
<arg name="method" default="pointcloud_based_occupancy_grid_map"/>
<arg name="param_file" default="$(find-pkg-share probabilistic_occupancy_grid_map)/config/$(var method).param.yaml"/>

<!--pointcloud based method-->
<group if="$(eval &quot;'$(var method)'=='pointcloud_based_occupancy_grid_map'&quot;)">
<include file="$(find-pkg-share probabilistic_occupancy_grid_map)/launch/pointcloud_based_occupancy_grid_map.launch.py">
<arg name="input/obstacle_pointcloud" value="$(var input/obstacle_pointcloud)"/>
<arg name="input/raw_pointcloud" value="$(var input/raw_pointcloud)"/>
<arg name="output" value="$(var output)"/>
<arg name="use_intra_process" value="$(var use_intra_process)"/>
<arg name="use_multithread" value="$(var use_multithread)"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="container_name" value="$(var container_name)"/>
<arg name="param_file" value="$(var param_file)"/>
<arg name="scan_origin" value="$(var scan_origin)"/>
<arg name="map_origin" value="$(var map_origin)"/>
</include>
</group>

<!--laserscan based method-->
<group if="$(eval &quot;'$(var method)'=='laserscan_based_occupancy_grid_map'&quot;)">
<include file="$(find-pkg-share probabilistic_occupancy_grid_map)/launch/laserscan_based_occupancy_grid_map.launch.py">
<arg name="input/obstacle_pointcloud" value="$(var input/obstacle_pointcloud)"/>
<arg name="input/raw_pointcloud" value="$(var input/raw_pointcloud)"/>
<arg name="output" value="$(var output)"/>
<arg name="use_intra_process" value="$(var use_intra_process)"/>
<arg name="use_multithread" value="$(var use_multithread)"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="container_name" value="$(var container_name)"/>
<arg name="param_file" value="$(var param_file)"/>
<arg name="scan_origin" value="$(var scan_origin)"/>
<arg name="map_origin" value="$(var map_origin)"/>
</include>
</group>
</launch>
3 changes: 2 additions & 1 deletion launch/tier4_perception_launch/launch/perception.launch.xml
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Expand Up @@ -68,14 +68,15 @@
<!-- occupancy grid map module -->
<group>
<push-ros-namespace namespace="occupancy_grid_map"/>
<include file="$(find-pkg-share tier4_perception_launch)/launch/occupancy_grid_map/pointcloud_based_occupancy_grid_map.launch.py">
<include file="$(find-pkg-share tier4_perception_launch)/launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml">
<arg name="input/obstacle_pointcloud" value="/perception/obstacle_segmentation/single_frame/pointcloud_raw"/>
<arg name="input/raw_pointcloud" value="$(var input/pointcloud)"/>
<arg name="output" value="/perception/occupancy_grid_map/map"/>
<arg name="use_intra_process" value="true"/>
<arg name="use_multithread" value="true"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="container_name" value="$(var pointcloud_container_name)"/>
<arg name="method" value="pointcloud_based_occupancy_grid_map"/>
<arg name="param_file" value="$(find-pkg-share probabilistic_occupancy_grid_map)/config/pointcloud_based_occupancy_grid_map.param.yaml"/>
</include>
</group>
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23 changes: 20 additions & 3 deletions perception/probabilistic_occupancy_grid_map/README.md
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Expand Up @@ -5,6 +5,11 @@
This package outputs the probability of having an obstacle as occupancy grid map.
![pointcloud_based_occupancy_grid_map_sample_image](./image/pointcloud_based_occupancy_grid_map_sample_image.gif)

## References/External links

- [Pointcloud based occupancy grid map](pointcloud-based-occupancy-grid-map.md)
- [Laserscan based occupancy grid map](laserscan-based-occupancy-grid-map.md)

## Settings

Occupancy grid map is generated on `map_frame`, and grid orientation is fixed.
Expand Down Expand Up @@ -46,7 +51,19 @@ Config parameters are managed in `config/*.yaml` and here shows its outline.
| scan_origin_frame | "base_link" |
| gridmap_origin_frame | "base_link" |

## References/External links
## Other parameters

- [Pointcloud based occupancy grid map](pointcloud-based-occupancy-grid-map.md)
- [Laserscan based occupancy grid map](laserscan-based-occupancy-grid-map.md)
Additional argument is shown below:

| Name | Default | Description |
| ----------------------------------------------- | ------------------------------ | ----------------------------------------------------------------------------------------------------------------------------------------- |
| `use_multithread` | `false` | whether to use multithread |
| `use_intra_process` | `false` | |
| `map_origin` | `` | parameter to override `map_origin_frame` which means grid map origin |
| `scan_origin` | `` | parameter to override `scan_origin_frame` which means scanning center |
| `output` | `occupancy_grid` | output name |
| `use_pointcloud_container` | `false` | |
| `container_name` | `occupancy_grid_map_container` | |
| `filter_obstacle_pointcloud_by_raw_pointcloud_` | `false` | only for pointcloud based method. If true, the node use raw pointcloud to filter obstacle pointcloud. Options for the limited FOV sensor. |
| `input_obstacle_pointcloud` | `false` | only for laserscan based method. If true, the node subscribe obstacle pointcloud |
| `input_obstacle_and_raw_pointcloud` | `true` | only for laserscan based method. If true, the node subscribe both obstacle and raw pointcloud |
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