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added use_sim_time with AW_ROS2_USE_SIM_TIME envvar for the parameters in the *.launch.py #61

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merged 4 commits into from
Feb 17, 2021
Merged

added use_sim_time with AW_ROS2_USE_SIM_TIME envvar for the parameters in the *.launch.py #61

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2478700
added use_sim_time with AW_ROS2_USE_SIM_TIME envvar for the parameters
Feb 16, 2021
1e6baef
changed to use EnvironmentVariable function for use_sim_time parameter
Feb 17, 2021
7442e6e
changed indent
Feb 17, 2021
f77aeed
removed an empty line
Feb 17, 2021
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9 changes: 9 additions & 0 deletions sensing_launch/launch/aip_customized/pointcloud_preprocessor.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,7 @@
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import ComposableNodeContainer
from launch_ros.descriptions import ComposableNode
from launch.substitutions import EnvironmentVariable


def get_vehicle_info(context):
Expand Down Expand Up @@ -63,6 +64,7 @@ def launch_setup(context, *args, **kwargs):
'/sensing/lidar/left/outlier_filtered/pointcloud',
'/sensing/lidar/right/outlier_filtered/pointcloud'],
'output_frame': 'base_link',
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
}]
)
else:
Expand All @@ -78,6 +80,7 @@ def launch_setup(context, *args, **kwargs):
'output_frame': 'base_link',
'min_z': vehicle_info['min_height_offset'],
'max_z': vehicle_info['max_height_offset'],
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
}]
)

Expand All @@ -101,6 +104,7 @@ def launch_setup(context, *args, **kwargs):
'min_z': vehicle_info['min_height_offset'],
'max_z': vehicle_info['max_height_offset'],
'negative': False,
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
}]
)

Expand All @@ -116,6 +120,7 @@ def launch_setup(context, *args, **kwargs):
"general_max_slope": 10.0,
"local_max_slope": 10.0,
"min_height_threshold": 0.2,
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
}]
)

Expand All @@ -127,6 +132,7 @@ def launch_setup(context, *args, **kwargs):
"input_topic": "/sensing/lidar/top/rectified/pointcloud",
"output_topic": "/sensing/lidar/pointcloud",
"type": "sensor_msgs/msg/PointCloud2",
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
}],
)

Expand All @@ -143,6 +149,9 @@ def launch_setup(context, *args, **kwargs):
relay_component,
],
output='screen',
parameters=[{
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
}],
)

return [container]
Expand Down
9 changes: 9 additions & 0 deletions sensing_launch/launch/aip_s1/pointcloud_preprocessor.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,7 @@
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import ComposableNodeContainer
from launch_ros.descriptions import ComposableNode
from launch.substitutions import EnvironmentVariable

def get_vehicle_info(context):
path = LaunchConfiguration('vehicle_param_file').perform(context)
Expand Down Expand Up @@ -62,6 +63,7 @@ def launch_setup(context, *args, **kwargs):
'/sensing/lidar/left/outlier_filtered/pointcloud',
'/sensing/lidar/right/outlier_filtered/pointcloud'],
'output_frame': 'base_link',
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
}]
)
else:
Expand All @@ -78,6 +80,7 @@ def launch_setup(context, *args, **kwargs):
'output_frame': 'base_link',
'min_z': vehicle_info['min_height_offset'],
'max_z': vehicle_info['max_height_offset'],
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
}]
)

Expand All @@ -100,6 +103,7 @@ def launch_setup(context, *args, **kwargs):
'min_z': vehicle_info['min_height_offset'],
'max_z': vehicle_info['max_height_offset'],
'negative': False,
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
}]
)

Expand All @@ -115,6 +119,7 @@ def launch_setup(context, *args, **kwargs):
"general_max_slope": 10.0,
"local_max_slope": 10.0,
"min_height_threshold": 0.2,
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
}]
)

Expand All @@ -126,6 +131,7 @@ def launch_setup(context, *args, **kwargs):
"input_topic": "/sensing/lidar/top/rectified/pointcloud",
"output_topic": "/sensing/lidar/pointcloud",
"type": "sensor_msgs/msg/PointCloud2",
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
}],
)

Expand All @@ -142,6 +148,9 @@ def launch_setup(context, *args, **kwargs):
relay_component,
],
output='screen',
parameters=[{
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
}],
)

return [container]
Expand Down
12 changes: 12 additions & 0 deletions sensing_launch/launch/aip_x1/pointcloud_preprocessor.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,7 @@
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import ComposableNodeContainer
from launch_ros.descriptions import ComposableNode
from launch.substitutions import EnvironmentVariable

def get_vehicle_info(context):
path = LaunchConfiguration('vehicle_param_file').perform(context)
Expand Down Expand Up @@ -63,6 +64,7 @@ def launch_setup(context, *args, **kwargs):
'/sensing/lidar/front_right/mirror_cropped/pointcloud',
'/sensing/lidar/front_center/mirror_cropped/pointcloud'],
'output_frame': 'base_link',
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
}]
)
else:
Expand All @@ -79,6 +81,7 @@ def launch_setup(context, *args, **kwargs):
'output_frame': 'base_link',
'min_z': vehicle_info['min_height_offset'],
'max_z': vehicle_info['max_height_offset'],
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
}]
)

Expand All @@ -101,6 +104,7 @@ def launch_setup(context, *args, **kwargs):
'min_z': vehicle_info['min_height_offset'],
'max_z': vehicle_info['max_height_offset'],
'negative': False,
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
}]
)

Expand All @@ -122,6 +126,7 @@ def launch_setup(context, *args, **kwargs):
"max_x": vehicle_info['max_longitudinal_offset'],
"min_y": vehicle_info['min_lateral_offset'],
"max_y": vehicle_info['max_lateral_offset'],
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
}]
)

Expand All @@ -139,6 +144,7 @@ def launch_setup(context, *args, **kwargs):
"voxel_size_x": 0.04,
"voxel_size_y": 0.04,
"voxel_size_z": 0.08,
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
}]
)

Expand All @@ -154,6 +160,7 @@ def launch_setup(context, *args, **kwargs):
parameters=[{
"search_radius": 0.2,
"min_neighbors": 5
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
}]
)
else:
Expand All @@ -170,6 +177,7 @@ def launch_setup(context, *args, **kwargs):
"voxel_size_y": 0.4,
"voxel_size_z": 100,
"voxel_points_threshold": 5,
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
}]
)

Expand All @@ -181,6 +189,7 @@ def launch_setup(context, *args, **kwargs):
"input_topic": "/sensing/lidar/top/rectified/pointcloud",
"output_topic": "/sensing/lidar/pointcloud",
"type": "sensor_msgs/msg/PointCloud2",
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
}],
)

Expand All @@ -197,6 +206,9 @@ def launch_setup(context, *args, **kwargs):
relay_component,
],
output='screen',
parameters=[{
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
}],
)

return [container]
Expand Down
9 changes: 9 additions & 0 deletions sensing_launch/launch/aip_x2/pointcloud_preprocessor.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,7 @@
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import ComposableNodeContainer
from launch_ros.descriptions import ComposableNode
from launch.substitutions import EnvironmentVariable

def get_vehicle_info(context):
path = LaunchConfiguration('vehicle_param_file').perform(context)
Expand Down Expand Up @@ -62,6 +63,7 @@ def launch_setup(context, *args, **kwargs):
'/sensing/lidar/left/outlier_filtered/pointcloud',
'/sensing/lidar/right/outlier_filtered/pointcloud'],
'output_frame': 'base_link',
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
}]
)
else:
Expand All @@ -78,6 +80,7 @@ def launch_setup(context, *args, **kwargs):
'output_frame': 'base_link',
'min_z': vehicle_info['min_height_offset'],
'max_z': vehicle_info['max_height_offset'],
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
}]
)

Expand All @@ -100,6 +103,7 @@ def launch_setup(context, *args, **kwargs):
'min_z': vehicle_info['min_height_offset'],
'max_z': vehicle_info['max_height_offset'],
'negative': False,
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
}]
)

Expand All @@ -115,6 +119,7 @@ def launch_setup(context, *args, **kwargs):
"general_max_slope": 10.0,
"local_max_slope": 10.0,
"min_height_threshold": 0.2,
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
}]
)

Expand All @@ -126,6 +131,7 @@ def launch_setup(context, *args, **kwargs):
"input_topic": "/sensing/lidar/top/rectified/pointcloud",
"output_topic": "/sensing/lidar/pointcloud",
"type": "sensor_msgs/msg/PointCloud2",
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
}],
)

Expand All @@ -142,6 +148,9 @@ def launch_setup(context, *args, **kwargs):
relay_component,
],
output='screen',
parameters=[{
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
}],
)

return [container]
Expand Down
9 changes: 9 additions & 0 deletions sensing_launch/launch/aip_xx1/pointcloud_preprocessor.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,7 @@
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import ComposableNodeContainer
from launch_ros.descriptions import ComposableNode
from launch.substitutions import EnvironmentVariable

def get_vehicle_info(context):
path = LaunchConfiguration('vehicle_param_file').perform(context)
Expand Down Expand Up @@ -61,6 +62,7 @@ def launch_setup(context, *args, **kwargs):
'/sensing/lidar/left/outlier_filtered/pointcloud',
'/sensing/lidar/right/outlier_filtered/pointcloud'],
'output_frame': 'base_link',
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
}]
)
else:
Expand All @@ -76,6 +78,7 @@ def launch_setup(context, *args, **kwargs):
'output_frame': 'base_link',
'min_z': vehicle_info['min_height_offset'],
'max_z': vehicle_info['max_height_offset'],
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
}]
)

Expand All @@ -98,6 +101,7 @@ def launch_setup(context, *args, **kwargs):
'min_z': vehicle_info['min_height_offset'],
'max_z': vehicle_info['max_height_offset'],
'negative': False,
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
}]
)

Expand All @@ -113,6 +117,7 @@ def launch_setup(context, *args, **kwargs):
"general_max_slope": 10.0,
"local_max_slope": 10.0,
"min_height_threshold": 0.2,
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
}]
)

Expand All @@ -124,6 +129,7 @@ def launch_setup(context, *args, **kwargs):
"input_topic": "/sensing/lidar/top/rectified/pointcloud",
"output_topic": "/sensing/lidar/pointcloud",
"type": "sensor_msgs/msg/PointCloud2",
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
}],
)

Expand All @@ -140,6 +146,9 @@ def launch_setup(context, *args, **kwargs):
relay_component,
],
output='screen',
parameters=[{
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
}],
)

return [container]
Expand Down
9 changes: 9 additions & 0 deletions sensing_launch/launch/aip_xx2/pointcloud_preprocessor.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,7 @@
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import ComposableNodeContainer
from launch_ros.descriptions import ComposableNode
from launch.substitutions import EnvironmentVariable


def get_vehicle_info(context):
Expand Down Expand Up @@ -62,6 +63,7 @@ def launch_setup(context, *args, **kwargs):
'/sensing/lidar/left/outlier_filtered/pointcloud',
'/sensing/lidar/right/outlier_filtered/pointcloud'],
'output_frame': 'base_link',
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
}]
)
else:
Expand All @@ -78,6 +80,7 @@ def launch_setup(context, *args, **kwargs):
'output_frame': 'base_link',
'min_z': vehicle_info['min_height_offset'],
'max_z': vehicle_info['max_height_offset'],
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
}]
)

Expand All @@ -100,6 +103,7 @@ def launch_setup(context, *args, **kwargs):
'min_z': vehicle_info['min_height_offset'],
'max_z': vehicle_info['max_height_offset'],
'negative': False,
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
}]
)

Expand All @@ -115,6 +119,7 @@ def launch_setup(context, *args, **kwargs):
"general_max_slope": 10.0,
"local_max_slope": 10.0,
"min_height_threshold": 0.2,
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
}]
)

Expand All @@ -126,6 +131,7 @@ def launch_setup(context, *args, **kwargs):
"input_topic": "/sensing/lidar/top/rectified/pointcloud",
"output_topic": "/sensing/lidar/pointcloud",
"type": "sensor_msgs/msg/PointCloud2",
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
}],
)

Expand All @@ -142,6 +148,9 @@ def launch_setup(context, *args, **kwargs):
relay_component,
],
output='screen',
parameters=[{
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
}],
)

return [container]
Expand Down
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