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Fix default value of use_concat_filter and use_radius_search #90

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Mar 15, 2021
Merged

Fix default value of use_concat_filter and use_radius_search #90

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39fff4b
Fix default value of use_concat_filter and use_radius_search
Mar 15, 2021
6644488
Fix lint
Mar 15, 2021
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94 changes: 45 additions & 49 deletions sensing_launch/launch/aip_x1/pointcloud_preprocessor.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -13,16 +13,12 @@
# See the License for the specific language governing permissions and
# limitations under the License.

import os
import yaml

import launch
from launch.actions import DeclareLaunchArgument, OpaqueFunction
from launch.conditions import IfCondition, UnlessCondition
from launch.substitutions import LaunchConfiguration
from launch.substitutions import EnvironmentVariable, LaunchConfiguration
from launch_ros.actions import ComposableNodeContainer, LoadComposableNodes
from launch_ros.descriptions import ComposableNode
from launch.substitutions import EnvironmentVariable
import yaml


def get_vehicle_info(context):
Expand Down Expand Up @@ -65,7 +61,7 @@ def launch_setup(context, *args, **kwargs):
'/sensing/lidar/front_right/mirror_cropped/pointcloud',
'/sensing/lidar/front_center/mirror_cropped/pointcloud'],
'output_frame': LaunchConfiguration('base_frame'),
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False')
}]
)

Expand All @@ -82,7 +78,7 @@ def launch_setup(context, *args, **kwargs):
'output_frame': LaunchConfiguration('base_frame'),
'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'),
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False')
}]
)

Expand All @@ -105,7 +101,7 @@ def launch_setup(context, *args, **kwargs):
'min_z': -0.5,
'max_z': vehicle_info['max_height_offset'],
'negative': False,
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False')
}]
)

Expand All @@ -118,18 +114,18 @@ def launch_setup(context, *args, **kwargs):
('output', 'rough/no_ground/pointcloud'),
],
parameters=[{
"initial_max_slope": 10.0,
"general_max_slope": 10.0,
"local_max_slope": 10.0,
"min_height_threshold": 0.3,
"radial_devider_angle": 1.0,
"concentric_devider_distance": 0.0,
"use_vehicle_footprint": True,
"min_x": vehicle_info['min_longitudinal_offset'],
"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'),
'initial_max_slope': 10.0,
'general_max_slope': 10.0,
'local_max_slope': 10.0,
'min_height_threshold': 0.3,
'radial_devider_angle': 1.0,
'concentric_devider_distance': 0.0,
'use_vehicle_footprint': True,
'min_x': vehicle_info['min_longitudinal_offset'],
'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 @@ -151,7 +147,7 @@ def launch_setup(context, *args, **kwargs):
'min_z': -0.5,
'max_z': 0.5,
'negative': False,
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False')
}]
)

Expand All @@ -167,7 +163,7 @@ def launch_setup(context, *args, **kwargs):
parameters=[{
'voxel_size_x': 0.25,
'voxel_size_y': 0.25,
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False')
}]
)

Expand All @@ -190,7 +186,7 @@ def launch_setup(context, *args, **kwargs):
'voxel_size_y': 0.2,
'voxel_size_z': 0.2,
'debug': False,
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False')
}]
)

Expand All @@ -203,7 +199,7 @@ def launch_setup(context, *args, **kwargs):
'input_topics': ['/sensing/lidar/rough/no_ground/pointcloud',
'/sensing/lidar/short_height/no_ground/pointcloud'],
'output_frame': LaunchConfiguration('base_frame'),
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False')
}]
)

Expand All @@ -216,12 +212,12 @@ def launch_setup(context, *args, **kwargs):
('output', 'voxel_grid_filtered/pointcloud'),
],
parameters=[{
"input_frame": LaunchConfiguration('base_frame'),
"output_frame": LaunchConfiguration('base_frame'),
"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'),
'input_frame': LaunchConfiguration('base_frame'),
'output_frame': LaunchConfiguration('base_frame'),
'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 @@ -234,9 +230,9 @@ def launch_setup(context, *args, **kwargs):
('output', 'no_ground/pointcloud'),
],
parameters=[{
"search_radius": 0.2,
"min_neighbors": 5,
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
'search_radius': 0.2,
'min_neighbors': 5,
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False')
}]
)

Expand All @@ -249,11 +245,11 @@ def launch_setup(context, *args, **kwargs):
('output', 'no_ground/pointcloud'),
],
parameters=[{
"voxel_size_x": 0.4,
"voxel_size_y": 0.4,
"voxel_size_z": 100.0,
"voxel_points_threshold": 5,
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
'voxel_size_x': 0.4,
'voxel_size_y': 0.4,
'voxel_size_z': 100.0,
'voxel_points_threshold': 5,
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False')
}]
)

Expand All @@ -262,13 +258,13 @@ def launch_setup(context, *args, **kwargs):
plugin='topic_tools::RelayNode',
name='relay',
parameters=[{
"input_topic": "/sensing/lidar/top/outlier_filtered/pointcloud",
"output_topic": "/sensing/lidar/pointcloud",
"type": "sensor_msgs/msg/PointCloud2",
"history": "keep_last",
"depth": 5,
"reliability": "best_effort",
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
'input_topic': '/sensing/lidar/top/outlier_filtered/pointcloud',
'output_topic': '/sensing/lidar/pointcloud',
'type': 'sensor_msgs/msg/PointCloud2',
'history': 'keep_last',
'depth': 5,
'reliability': 'best_effort',
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False')
}],
)

Expand All @@ -290,7 +286,7 @@ def launch_setup(context, *args, **kwargs):
],
output='screen',
parameters=[{
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'),
'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False')
}],
)

Expand Down Expand Up @@ -332,8 +328,8 @@ def add_launch_arg(name: str, default_value=None):
launch_arguments.append(DeclareLaunchArgument(name, default_value=default_value))

add_launch_arg('base_frame', 'base_link')
add_launch_arg('use_concat_filter', 'use_concat_filter')
add_launch_arg('use_radius_search', 'use_radius_search')
add_launch_arg('use_concat_filter', 'true')
add_launch_arg('use_radius_search', 'true')
add_launch_arg('vehicle_param_file')

return launch.LaunchDescription(launch_arguments + [OpaqueFunction(function=launch_setup)])