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docs: add example robosense Bpearl launch #605

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Sep 12, 2024
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docs: add example robosense Bpearl launch #605

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35e4414
add example robosense Bpearl launch
ismetatabay Sep 2, 2024
e0d2b4f
fix sensor model name
ismetatabay Sep 3, 2024
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28 changes: 21 additions & 7 deletions ...ating-autoware/creating-vehicle-and-sensor-model/creating-sensor-model/index.md
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Original file line number Diff line number Diff line change
Expand Up @@ -196,12 +196,12 @@

### sensor_kit.xacro

We will add our sensors and remove unnecessary xacros from this file.

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For example,
we want
to add our lidar sensor with `velodyne_top` frame from the sensor driver,
we will add the following xacro to our sensor_kit.xacro file.
Please add your sensors to this file and remove unnecessary sensor's xacros.

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```xml
<!-- lidar -->
Expand Down Expand Up @@ -474,11 +474,25 @@

Please add similar launch groups according to your sensor architecture.
For example, we use Robosense Lidars for our `tutorial_vehicle`,
so the lidar group for Robosense Lidar should be like this structure:
so the lidar group for Robosense Lidar (i.e., for Bpearl) should be like this structure:

!!! warning

under construction
```xml
<group>
<push-ros-namespace namespace="<YOUR-SENSOR-NAMESPACE>"/>
<include file="$(find-pkg-share common_sensor_launch)/launch/robosense_Bpearl.launch.xml">
<arg name="max_range" value="30.0"/>
<arg name="sensor_frame" value="<YOUR-ROBOSENSE-SENSOR-FRAME>"/>
<arg name="sensor_ip" value="<YOUR-ROBOSENSE-SENSOR-IP>"/>
<arg name="host_ip" value="$(var host_ip)"/>
<arg name="data_port" value="<YOUR-ROBOSENSE-SENSOR-DATA-PORT>"/>
<arg name="gnss_port" value="<YOUR-ROBOSENSE-SENSOR-GNSS-PORT>"/>
<arg name="scan_phase" value="0.0"/>
<arg name="launch_driver" value="$(var launch_driver)"/>
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
<arg name="container_name" value="pointcloud_container"/>
</include>
</group>
```

If you are using a Hesai lidar (i.e. PandarQT64,
please check [nebula](https://github.com/tier4/nebula) driver page for supported sensors),
Expand Down Expand Up @@ -517,10 +531,10 @@

nodes.append(
ComposableNode(
package="pointcloud_preprocessor",
- plugin="pointcloud_preprocessor::RingOutlierFilterComponent",
package="autoware_pointcloud_preprocessor",
- plugin="autoware::pointcloud_preprocessor::RingOutlierFilterComponent",
- name="ring_outlier_filter",
+ plugin="pointcloud_preprocessor::DualReturnOutlierFilterComponent",
+ plugin="autoware::pointcloud_preprocessor::DualReturnOutlierFilterComponent",
+ name="dual_return_outlier_filter",
remappings=[
("input", "rectified/pointcloud_ex"),
Expand Down Expand Up @@ -564,7 +578,7 @@

Then, you can launch tensorrt_yolo node via adding yolo.launch.xml on your design like that:
(i.e.,
it is included in [tier4_perception_launch](https://github.com/autowarefoundation/autoware.universe/blob/ad69c2851b7b84e12c9f0c3b177fb6a9032bf284/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml#L49-L59) package in autwoare.universe)

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`image_number` argument defines your camera number

```xml
Expand Down Expand Up @@ -609,7 +623,7 @@
from launch.actions import OpaqueFunction
import yaml

def launch_setup(context, *args, **kwargs):

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output_topic= LaunchConfiguration("output_topic").perform(context)

Expand Down Expand Up @@ -709,7 +723,7 @@
launch_arguments = []

def add_launch_arg(name: str, default_value=None, description=None):
# a default_value of None is equivalent to not passing that kwarg at all

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launch_arguments.append(
DeclareLaunchArgument(name, default_value=default_value, description=description)
)
Expand Down Expand Up @@ -937,7 +951,7 @@
Also, you can remove dependencies and unused sensor launch files at `gnss.launch.xml`.
For example,
we will use [Clap B7 sensor](https://en.unicorecomm.com/assets/upload/file/CLAP-B7_Product_Brief_En.pdf) as a GNSS/INS and IMU sensor,
and we will use [nrtip_client_ros](https://github.com/Robeff-Technology/ntrip_client) for RTK.

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Also, we will add these packages to [autoware.repos](https://github.com/leo-drive/autoware.tutorial_vehicle/blob/main/autoware.repos) file.

```diff
Expand Down Expand Up @@ -973,8 +987,8 @@
<node pkg="clap_b7_driver" exec="clap_b7_driver_node" name="clap_b7_driver" output="screen">
<param from="$(find-pkg-share clap_b7_driver)/config/clap_b7_driver.param.yaml"/>
</node>
<!-- ntrip Client -->

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<include file="$(find-pkg-share ntrip_client_ros)/launch/ntrip_client_ros.launch.py"/>

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</group>

<!-- NavSatFix to MGRS Pose -->
Expand All @@ -998,7 +1012,7 @@
<include file="$(find-pkg-share imu_corrector)/launch/imu_corrector.launch.xml">
<arg name="input_topic" value="/sensing/gnss/clap/ros/imu"/>
<arg name="output_topic" value="imu_data"/>
<arg name="param_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/robione_sensor_kit/imu_corrector.param.yaml"/>

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</include>
<include file="$(find-pkg-share imu_corrector)/launch/gyro_bias_estimator.launch.xml">
<arg name="input_imu_raw" value="/sensing/gnss/clap/ros/imu"/>
Expand Down
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