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refactor(occupancy_grid_map): add occupancy_grid_map method/param var to launcher #294

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Apr 19, 2023
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refactor(occupancy_grid_map): add occupancy_grid_map method/param var to launcher #294

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14 changes: 14 additions & 0 deletions ...launch/config/perception/occupancy_grid_map/laserscan_based_occupancy_grid_map.param.yaml
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/**:
ros__parameters:
map_frame: "map"
base_link_frame: "base_link"
# center of the grid map
gridmap_origin_frame: "base_link"
# ray-tracing center: main sensor frame is preferable like: "velodyne_top"
scan_origin_frame: "base_link"

use_height_filter: true
enable_single_frame_mode: false
map_length: 100.0
map_width: 100.0
map_resolution: 0.5
17 changes: 17 additions & 0 deletions ...aunch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml
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/**:
ros__parameters:
map_length: 100.0 # [m]
map_resolution: 0.5 # [m]

use_height_filter: true
enable_single_frame_mode: false
# use sensor pointcloud to filter obstacle pointcloud
filter_obstacle_pointcloud_by_raw_pointcloud: false

# grid map coordinate
map_frame: "map"
base_link_frame: "base_link"
# center of the grid map
gridmap_origin_frame: "base_link"
# ray-tracing center: main sensor frame is preferable like: "velodyne_top"
scan_origin_frame: "base_link"
4 changes: 4 additions & 0 deletions autoware_launch/launch/components/tier4_perception_component.launch.xml
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<?xml version="1.0"?>
<launch>
<arg name="occupancy_grid_map_method" default="pointcloud_based_occupancy_grid_map" description="options: pointcloud_based_occupancy_grid_map, laserscan_based_occupancy_grid_map"/>

<include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
<arg name="mode" value="$(var perception_mode)"/>
<arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
Expand Down Expand Up @@ -31,5 +33,7 @@
name="obstacle_segmentation_ground_segmentation_elevation_map_param_path"
value="$(find-pkg-share autoware_launch)/config/perception/obstacle_segmentation/ground_segmentation/elevation_map_parameters.yaml"
/>
<arg name="occupancy_grid_map_method" value="$(var occupancy_grid_map_method)"/>
<arg name="occupancy_grid_map_param_path" value="$(find-pkg-share autoware_launch)/config/perception/occupancy_grid_map/$(var occupancy_grid_map_method).param.yaml"/>
</include>
</launch>
1 change: 1 addition & 0 deletions autoware_launch/launch/components/tier4_simulator_component.launch.xml
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Expand Up @@ -34,5 +34,6 @@
/>
<arg name="pose_initializer_common_param_path" value="$(find-pkg-share autoware_launch)/config/localization/pose_initializer_common.param.yaml"/>
<arg name="pose_initializer_param_path" value="$(find-pkg-share autoware_launch)/config/localization/pose_initializer.planning_simulator.param.yaml"/>
<arg name="laserscan_based_occupancy_grid_map_param_path" value="$(find-pkg-share autoware_launch)/config/perception/occupancy_grid_map/laserscan_based_occupancy_grid_map.param.yaml"/>
</include>
</launch>