feat: change ogm default launch (#287)

Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>

perception_launch/launch/occupancy_grid_map/occupancy_grid_map.launch.py → perception_launch/launch/occupancy_grid_map/laserscan_based_occupancy_grid_map.launch.py

@@ -59,7 +59,7 @@ def add_launch_arg(name: str, default_value=None):
                     "max_height": 2.0,
                     "angle_min": -3.141592,  # -M_PI
                     "angle_max": 3.141592,  # M_PI
-                    "angle_increment": 0.0034906585,  # 0.20*M_PI/180.0
+                    "angle_increment": 0.00349065850,  # 0.20*M_PI/180.0
                     "scan_time": 0.0,
                     "range_min": 1.0,
                     "range_max": 200.0,

perception_launch/launch/occupancy_grid_map/pointcloud_based_occupancy_grid_map.launch.py

@@ -0,0 +1,93 @@
+# Copyright 2021 Tier IV, Inc. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.actions import SetLaunchConfiguration
+from launch.conditions import IfCondition
+from launch.conditions import LaunchConfigurationEquals
+from launch.conditions import LaunchConfigurationNotEquals
+from launch.conditions import UnlessCondition
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.actions import LoadComposableNodes
+from launch_ros.descriptions import ComposableNode
+
+
+def generate_launch_description():
+    def add_launch_arg(name: str, default_value=None):
+        return DeclareLaunchArgument(name, default_value=default_value)
+
+    set_container_executable = SetLaunchConfiguration(
+        "container_executable",
+        "component_container",
+        condition=UnlessCondition(LaunchConfiguration("use_multithread")),
+    )
+
+    set_container_mt_executable = SetLaunchConfiguration(
+        "container_executable",
+        "component_container_mt",
+        condition=IfCondition(LaunchConfiguration("use_multithread")),
+    )
+
+    composable_nodes = [
+        ComposableNode(
+            package="probabilistic_occupancy_grid_map",
+            plugin="occupancy_grid_map::PointcloudBasedOccupancyGridMapNode",
+            name="occupancy_grid_map_node",
+            remappings=[
+                ("~/input/obstacle_pointcloud", LaunchConfiguration("input/obstacle_pointcloud")),
+                ("~/input/raw_pointcloud", LaunchConfiguration("input/raw_pointcloud")),
+                ("~/output/occupancy_grid_map", LaunchConfiguration("output")),
+            ],
+            parameters=[
+                {
+                    "map_resolution": 0.5,
+                    "use_height_filter": True,
+                }
+            ],
+            extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
+        ),
+    ]
+
+    occupancy_grid_map_container = ComposableNodeContainer(
+        condition=LaunchConfigurationEquals("container", ""),
+        name="occupancy_grid_map_container",
+        namespace="",
+        package="rclcpp_components",
+        executable=LaunchConfiguration("container_executable"),
+        composable_node_descriptions=composable_nodes,
+        output="screen",
+    )
+
+    load_composable_nodes = LoadComposableNodes(
+        condition=LaunchConfigurationNotEquals("container", ""),
+        composable_node_descriptions=composable_nodes,
+        target_container=LaunchConfiguration("container"),
+    )
+
+    return LaunchDescription(
+        [
+            add_launch_arg("container", ""),
+            add_launch_arg("use_multithread", "false"),
+            add_launch_arg("use_intra_process", "false"),
+            add_launch_arg("input/obstacle_pointcloud", "no_ground/oneshot/pointcloud"),
+            add_launch_arg("input/raw_pointcloud", "concatenated/pointcloud"),
+            add_launch_arg("output", "occupancy_grid"),
+            set_container_executable,
+            set_container_mt_executable,
+            occupancy_grid_map_container,
+            load_composable_nodes,
+        ]
+    )

perception_launch/launch/perception.launch.xml

@@ -46,7 +46,7 @@
     <!-- occupancy grid map module -->
     <group>
       <push-ros-namespace namespace="occupancy_grid_map"/>
-      <include file="$(find-pkg-share perception_launch)/launch/occupancy_grid_map/occupancy_grid_map.launch.py">
+      <include file="$(find-pkg-share 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" />
         <arg name="output" value="/perception/occupancy_grid_map/map" />