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fix(tier4_simulator_launch): fix occupancy grid map not appearing problem in psim #3081

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merged 2 commits into from
Mar 15, 2023
Merged

fix(tier4_simulator_launch): fix occupancy grid map not appearing problem in psim #3081

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eab33e5
fixed psim occupancy grid map problem
YoshiRi Mar 15, 2023
7f5d667
fix parameter designation
takayuki5168 Mar 15, 2023
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16 changes: 9 additions & 7 deletions ..._perception_launch/launch/occupancy_grid_map/laserscan_based_occupancy_grid_map.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -31,12 +31,6 @@ def launch_setup(context, *args, **kwargs):
param_file = LaunchConfiguration("param_file").perform(context)
with open(param_file, "r") as f:
laserscan_based_occupancy_grid_map_node_params = yaml.safe_load(f)["/**"]["ros__parameters"]
laserscan_based_occupancy_grid_map_node_params["input_obstacle_pointcloud"] = bool(
LaunchConfiguration("input_obstacle_pointcloud").perform(context)
)
laserscan_based_occupancy_grid_map_node_params["input_obstacle_and_raw_pointcloud"] = bool(
LaunchConfiguration("input_obstacle_and_raw_pointcloud").perform(context)
)

composable_nodes = [
ComposableNode(
Expand Down Expand Up @@ -86,7 +80,15 @@ def launch_setup(context, *args, **kwargs):
("~/input/raw_pointcloud", LaunchConfiguration("input/raw_pointcloud")),
("~/output/occupancy_grid_map", LaunchConfiguration("output")),
],
parameters=[laserscan_based_occupancy_grid_map_node_params],
parameters=[
laserscan_based_occupancy_grid_map_node_params,
{
"input_obstacle_pointcloud": LaunchConfiguration("input_obstacle_pointcloud"),
"input_obstacle_and_raw_pointcloud": LaunchConfiguration(
"input_obstacle_and_raw_pointcloud"
),
},
],
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
),
]
Expand Down
13 changes: 5 additions & 8 deletions launch/tier4_simulator_launch/launch/simulator.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -39,15 +39,12 @@
<group unless="$(var scenario_simulation)">
<!-- Occupancy Grid -->
<push-ros-namespace namespace="occupancy_grid_map"/>
<include file="$(find-pkg-share tier4_perception_launch)/launch/occupancy_grid_map/pointcloud_based_occupancy_grid_map.launch.py">
<arg name="input/obstacle_pointcloud" value="/perception/obstacle_segmentation/single_frame/pointcloud_raw"/>
<arg name="input/raw_pointcloud" value="/sensing/lidar/concatenated/pointcloud"/>
<include file="$(find-pkg-share tier4_perception_launch)/launch/occupancy_grid_map/laserscan_based_occupancy_grid_map.launch.py">
<arg name="input_obstacle_pointcloud" value="true"/>
<arg name="input_obstacle_and_raw_pointcloud" value="false"/>
<arg name="input/obstacle_pointcloud" value="/perception/obstacle_segmentation/pointcloud"/>
<arg name="output" value="/perception/occupancy_grid_map/map"/>
<arg name="use_intra_process" value="true"/>
<arg name="use_multithread" value="true"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="container_name" value="$(var pointcloud_container_name)"/>
<arg name="param_file" value="$(find-pkg-share probabilistic_occupancy_grid_map)/config/pointcloud_based_occupancy_grid_map.param.yaml"/>
<arg name="param_file" value="$(find-pkg-share probabilistic_occupancy_grid_map)/config/laserscan_based_occupancy_grid_map.param.yaml"/>
</include>
</group>

Expand Down
2 changes: 0 additions & 2 deletions ...ion/probabilistic_occupancy_grid_map/config/laserscan_based_occupancy_grid_map.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -12,5 +12,3 @@
map_length: 100.0
map_width: 100.0
map_resolution: 0.5
input_obstacle_pointcloud: true
input_obstacle_and_raw_pointcloud: true
23 changes: 15 additions & 8 deletions ...tion/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@
# See the License for the specific language governing permissions and
# limitations under the License.

from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.actions import OpaqueFunction
Expand All @@ -30,12 +31,6 @@ def launch_setup(context, *args, **kwargs):
param_file = LaunchConfiguration("param_file").perform(context)
with open(param_file, "r") as f:
laserscan_based_occupancy_grid_map_node_params = yaml.safe_load(f)["/**"]["ros__parameters"]
laserscan_based_occupancy_grid_map_node_params["input_obstacle_pointcloud"] = bool(
LaunchConfiguration("input_obstacle_pointcloud").perform(context)
)
laserscan_based_occupancy_grid_map_node_params["input_obstacle_and_raw_pointcloud"] = bool(
LaunchConfiguration("input_obstacle_and_raw_pointcloud").perform(context)
)

composable_nodes = [
ComposableNode(
Expand Down Expand Up @@ -85,7 +80,15 @@ def launch_setup(context, *args, **kwargs):
("~/input/raw_pointcloud", LaunchConfiguration("input/raw_pointcloud")),
("~/output/occupancy_grid_map", LaunchConfiguration("output")),
],
parameters=[laserscan_based_occupancy_grid_map_node_params],
parameters=[
laserscan_based_occupancy_grid_map_node_params,
{
"input_obstacle_pointcloud": LaunchConfiguration("input_obstacle_pointcloud"),
"input_obstacle_and_raw_pointcloud": LaunchConfiguration(
"input_obstacle_and_raw_pointcloud"
),
},
],
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
),
]
Expand Down Expand Up @@ -138,7 +141,11 @@ def add_launch_arg(name: str, default_value=None):
add_launch_arg("output/stixel", "virtual_scan/stixel"),
add_launch_arg("input_obstacle_pointcloud", "false"),
add_launch_arg("input_obstacle_and_raw_pointcloud", "true"),
add_launch_arg("param_file", "config/laserscan_based_occupancy_grid_map.param.yaml"),
add_launch_arg(
"param_file",
get_package_share_directory("probabilistic_occupancy_grid_map")
+ "/config/laserscan_based_occupancy_grid_map.param.yaml",
),
add_launch_arg("use_pointcloud_container", "false"),
add_launch_arg("container_name", "occupancy_grid_map_container"),
set_container_executable,
Expand Down