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feat: always separate lidar preprocessing from pointcloud_container (#…
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…6091)

* feat!: replace use_pointcloud_container

Signed-off-by: kminoda <[email protected]>

* feat: remove from planning

Signed-off-by: kminoda <[email protected]>

* fix: fix to remove all use_pointcloud_container

Signed-off-by: kminoda <[email protected]>

* revert: revert change in planning.launch

Signed-off-by: kminoda <[email protected]>

* revert: revert rename of use_pointcloud_container

Signed-off-by: kminoda <[email protected]>

* fix: fix tier4_perception_launch to enable use_pointcloud_contaienr

Signed-off-by: kminoda <[email protected]>

* fix: fix unnecessary change

Signed-off-by: kminoda <[email protected]>

* fix: fix unnecessary change

Signed-off-by: kminoda <[email protected]>

* refactor: remove trailing whitespace

Signed-off-by: kminoda <[email protected]>

* revert other changes in perception

Signed-off-by: kminoda <[email protected]>

* revert change in readme

Signed-off-by: kminoda <[email protected]>

* feat: move glog to pointcloud_container.launch.py

* revert: revert glog porting

Signed-off-by: kminoda <[email protected]>

* style(pre-commit): autofix

* fix: fix pre-commit

Signed-off-by: kminoda <[email protected]>

---------

Signed-off-by: kminoda <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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kminoda and pre-commit-ci[bot] authored Jan 19, 2024
1 parent d1059e5 commit 08b3a3d
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Showing 15 changed files with 52 additions and 53 deletions.
Original file line number Diff line number Diff line change
Expand Up @@ -15,14 +15,15 @@
<arg name="eagleye_param_path"/>

<arg name="input_pointcloud" default="/sensing/lidar/top/pointcloud"/>
<arg name="use_pointcloud_container" default="true" description="launch pointcloud container"/>
<arg name="pointcloud_container_name" default="pointcloud_container"/>
<arg name="lidar_container_name" default="/sensing/lidar/top/pointcloud_preprocessor/pointcloud_container"/>

<!-- localization module -->
<group>
<push-ros-namespace namespace="localization"/>
<!-- pose_twist_estimator module -->
<include file="$(find-pkg-share tier4_localization_launch)/launch/pose_twist_estimator/pose_twist_estimator.launch.xml"/>
<include file="$(find-pkg-share tier4_localization_launch)/launch/pose_twist_estimator/pose_twist_estimator.launch.xml">
<arg name="lidar_container_name" value="$(var lidar_container_name)"/>
</include>

<!-- pose_twist_fusion_filter module -->
<group>
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Expand Up @@ -23,7 +23,9 @@
<group if="$(var gnss_enabled)">
<include file="$(find-pkg-share automatic_pose_initializer)/launch/automatic_pose_initializer.launch.xml"/>
</group>
<include file="$(find-pkg-share tier4_localization_launch)/launch/util/util.launch.py"/>
<include file="$(find-pkg-share tier4_localization_launch)/launch/util/util.launch.py">
<arg name="lidar_container_name" value="$(var lidar_container_name)"/>
</include>
</group>
</group>

Expand Down Expand Up @@ -142,7 +144,9 @@
<group if="$(var gnss_enabled)">
<include file="$(find-pkg-share automatic_pose_initializer)/launch/automatic_pose_initializer.launch.xml"/>
</group>
<include file="$(find-pkg-share tier4_localization_launch)/launch/util/util.launch.py"/>
<include file="$(find-pkg-share tier4_localization_launch)/launch/util/util.launch.py">
<arg name="lidar_container_name" value="$(var lidar_container_name)"/>
</include>
</group>
</group>
</launch>
18 changes: 4 additions & 14 deletions launch/tier4_localization_launch/launch/util/util.launch.py
Original file line number Diff line number Diff line change
Expand Up @@ -15,8 +15,6 @@
import launch
from launch.actions import DeclareLaunchArgument
from launch.actions import OpaqueFunction
from launch.conditions import LaunchConfigurationNotEquals
from launch.conditions import UnlessCondition
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import LoadComposableNodes
from launch_ros.descriptions import ComposableNode
Expand Down Expand Up @@ -71,16 +69,9 @@ def load_composable_node_param(param_path):
random_downsample_component,
]

target_container = (
"/sensing/lidar/top/pointcloud_preprocessor/pointcloud_container"
if UnlessCondition(LaunchConfiguration("use_pointcloud_container")).evaluate(context)
else LaunchConfiguration("pointcloud_container_name")
)

load_composable_nodes = LoadComposableNodes(
condition=LaunchConfigurationNotEquals(target_container, ""),
composable_node_descriptions=composable_nodes,
target_container=target_container,
target_container=LaunchConfiguration("lidar_container_name"),
)

return [load_composable_nodes]
Expand Down Expand Up @@ -115,11 +106,10 @@ def add_launch_arg(name: str, default_value=None, description=None):
"path to the parameter file of random_downsample_filter",
)
add_launch_arg("use_intra_process", "true", "use ROS 2 component container communication")
add_launch_arg("use_pointcloud_container", "True", "use pointcloud container")
add_launch_arg(
"pointcloud_container_name",
"/pointcloud_container",
"container name",
"lidar_container_name",
"/sensing/lidar/top/pointcloud_preprocessor/pointcloud_container",
"container name of main lidar used for localization",
)

add_launch_arg(
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Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,7 @@
<!-- LiDAR parameters -->
<arg name="input/pointcloud"/>
<arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
<arg name="container_name" default="pointcloud_container"/>
<arg name="pointcloud_container_name" default="pointcloud_container"/>
<arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
<arg name="score_threshold" default="0.35"/>
<arg name="use_object_filter" default="true" description="use object filter"/>
Expand Down Expand Up @@ -62,7 +62,7 @@
<arg name="use_intra_process" value="true"/>
<arg name="use_multithread" value="true"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="container_name" value="$(var container_name)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
</include>
</group>
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Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,7 @@
<!-- LiDAR parameters -->
<arg name="input/pointcloud"/>
<arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
<arg name="container_name" default="pointcloud_container"/>
<arg name="pointcloud_container_name" default="pointcloud_container"/>

<arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
<arg name="lidar_detection_score_threshold" default="0.35"/>
Expand Down Expand Up @@ -91,7 +91,7 @@
<arg name="use_intra_process" value="true"/>
<arg name="use_multithread" value="true"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="container_name" value="$(var container_name)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
</include>
</group>
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Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,7 @@
<arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
<arg name="use_object_filter" default="true" description="use object filter"/>
<arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
<arg name="container_name" default="pointcloud_container"/>
<arg name="pointcloud_container_name" default="pointcloud_container"/>

<!-- Camera parameters -->
<arg name="image_raw0" default="/image_raw" description="image raw topic name"/>
Expand Down Expand Up @@ -59,7 +59,7 @@
<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
<arg name="use_object_filter" value="$(var use_object_filter)"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="container_name" value="$(var container_name)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
<arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
<arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
Expand Down Expand Up @@ -96,7 +96,7 @@
<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
<arg name="use_object_filter" value="$(var use_object_filter)"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="container_name" value="$(var container_name)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
<arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
<arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
Expand All @@ -111,7 +111,7 @@
<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
<arg name="use_object_filter" value="$(var use_object_filter)"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="container_name" value="$(var container_name)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
<arg name="input/radar" value="$(var input/radar)"/>
<arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
Expand All @@ -126,7 +126,7 @@
<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
<arg name="use_object_filter" value="$(var use_object_filter)"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="container_name" value="$(var container_name)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
<arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
</include>
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,7 @@
<arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `clustering`"/>
<arg name="use_object_filter" default="true" description="use object filter"/>
<arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
<arg name="container_name" default="pointcloud_container"/>
<arg name="pointcloud_container_name" default="pointcloud_container"/>
<arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
<arg name="lidar_detection_score_threshold" default="0.35"/>
<arg name="centerpoint_model_name" default="centerpoint_tiny"/>
Expand All @@ -25,7 +25,7 @@
<arg name="use_intra_process" value="true"/>
<arg name="use_multithread" value="true"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="container_name" value="$(var container_name)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
</include>
</group>
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,7 @@
<arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `clustering`"/>
<arg name="use_object_filter" default="true" description="use object filter"/>
<arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
<arg name="container_name" default="pointcloud_container"/>
<arg name="pointcloud_container_name" default="pointcloud_container"/>
<arg name="lidar_detection_score_threshold" default="0.35"/>

<!-- Radar parameters -->
Expand All @@ -23,7 +23,7 @@
<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
<arg name="use_object_filter" value="$(var use_object_filter)"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="container_name" value="$(var container_name)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
<arg name="lidar_detection_score_threshold" value="$(var lidar_detection_score_threshold)"/>
</include>
</group>
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -141,7 +141,7 @@ def launch_setup(context, *args, **kwargs):
components = []
components.extend(pipeline.create_pipeline())
individual_container = ComposableNodeContainer(
name=LaunchConfiguration("container_name"),
name=LaunchConfiguration("individual_container_name"),
namespace="",
package="rclcpp_components",
executable=LaunchConfiguration("container_executable"),
Expand All @@ -151,7 +151,7 @@ def launch_setup(context, *args, **kwargs):
)
pointcloud_container_loader = LoadComposableNodes(
composable_node_descriptions=components,
target_container=LaunchConfiguration("container_name"),
target_container=LaunchConfiguration("pointcloud_container_name"),
condition=IfCondition(LaunchConfiguration("use_pointcloud_container")),
)
return [individual_container, pointcloud_container_loader]
Expand All @@ -168,7 +168,8 @@ def add_launch_arg(name: str, default_value=None):
add_launch_arg("use_multithread", "False")
add_launch_arg("use_intra_process", "True")
add_launch_arg("use_pointcloud_container", "False")
add_launch_arg("container_name", "pointcloud_map_filter_pipeline_container")
add_launch_arg("pointcloud_container_name", "pointcloud_container")
add_launch_arg("individual_container_name", "pointcloud_map_filter_container")
add_launch_arg("use_pointcloud_map", "true")
set_container_executable = SetLaunchConfiguration(
"container_executable",
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -511,7 +511,7 @@ def launch_setup(context, *args, **kwargs):
)
)
individual_container = ComposableNodeContainer(
name=LaunchConfiguration("container_name"),
name=LaunchConfiguration("individual_container_name"),
namespace="",
package="rclcpp_components",
executable=LaunchConfiguration("container_executable"),
Expand All @@ -521,7 +521,7 @@ def launch_setup(context, *args, **kwargs):
)
pointcloud_container_loader = LoadComposableNodes(
composable_node_descriptions=components,
target_container=LaunchConfiguration("container_name"),
target_container=LaunchConfiguration("pointcloud_container_name"),
condition=IfCondition(LaunchConfiguration("use_pointcloud_container")),
)
return [individual_container, pointcloud_container_loader]
Expand All @@ -537,7 +537,8 @@ def add_launch_arg(name: str, default_value=None):
add_launch_arg("use_multithread", "False")
add_launch_arg("use_intra_process", "True")
add_launch_arg("use_pointcloud_container", "False")
add_launch_arg("container_name", "perception_pipeline_container")
add_launch_arg("pointcloud_container_name", "pointcloud_container")
add_launch_arg("individual_container_name", "ground_segmentation_container")
add_launch_arg("input/pointcloud", "/sensing/lidar/concatenated/pointcloud")

set_container_executable = SetLaunchConfiguration(
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@
<arg name="use_intra_process" default="false"/>
<arg name="use_multithread" default="false"/>
<arg name="use_pointcloud_container" default="false"/>
<arg name="container_name" default="occupancy_grid_map_container"/>
<arg name="pointcloud_container_name" default="pointcloud_container"/>
<arg name="occupancy_grid_map_method" description="options: pointcloud_based_occupancy_grid_map, laserscan_based_occupancy_grid_map, multi_lidar_pointcloud_based_occupancy_grid_map"/>
<arg name="occupancy_grid_map_param_path"/>
<arg name="occupancy_grid_map_updater" description="options: binary_bayes_filter"/>
Expand All @@ -24,7 +24,7 @@
<arg name="use_intra_process" value="$(var use_intra_process)"/>
<arg name="use_multithread" value="$(var use_multithread)"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="container_name" value="$(var container_name)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
<arg name="param_file" value="$(var occupancy_grid_map_param_path)"/>
<arg name="updater_type" value="$(var occupancy_grid_map_updater)"/>
<arg name="updater_param_file" value="$(var occupancy_grid_map_updater_param_path)"/>
Expand All @@ -40,7 +40,7 @@
<arg name="use_intra_process" value="$(var use_intra_process)"/>
<arg name="use_multithread" value="$(var use_multithread)"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="container_name" value="$(var container_name)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
<arg name="param_file" value="$(var occupancy_grid_map_param_path)"/>
<arg name="updater_type" value="$(var occupancy_grid_map_updater)"/>
<arg name="updater_param_file" value="$(var occupancy_grid_map_updater_param_path)"/>
Expand All @@ -56,7 +56,7 @@
<arg name="use_intra_process" value="true"/>
<arg name="use_multithread" value="true"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="container_name" value="$(var pointcloud_container_name)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
<arg name="multi_lidar_fusion_config_file" value="$(var occupancy_grid_map_param_path)"/>
<arg name="updater_type" value="$(var occupancy_grid_map_updater)"/>
<arg name="updater_param_file" value="$(var occupancy_grid_map_updater_param_path)"/>
Expand Down
6 changes: 3 additions & 3 deletions launch/tier4_perception_launch/launch/perception.launch.xml
Original file line number Diff line number Diff line change
Expand Up @@ -127,7 +127,7 @@
<arg name="use_intra_process" value="true"/>
<arg name="use_multithread" value="true"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="container_name" value="$(var pointcloud_container_name)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
</include>
</group>
Expand All @@ -142,7 +142,7 @@
<arg name="use_intra_process" value="true"/>
<arg name="use_multithread" value="true"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="container_name" value="$(var pointcloud_container_name)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
<arg name="occupancy_grid_map_method" value="$(var occupancy_grid_map_method)"/>
<arg name="occupancy_grid_map_param_path" value="$(var occupancy_grid_map_param_path)"/>
<arg name="occupancy_grid_map_updater" value="$(var occupancy_grid_map_updater)"/>
Expand Down Expand Up @@ -193,7 +193,7 @@
<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
<arg name="use_object_filter" value="$(var use_object_filter)"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="container_name" value="$(var pointcloud_container_name)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
<arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
</include>
</group>
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -115,7 +115,7 @@ def launch_setup(context, *args, **kwargs):
]

occupancy_grid_map_container = ComposableNodeContainer(
name=LaunchConfiguration("container_name"),
name=LaunchConfiguration("individual_container_name"),
namespace="",
package="rclcpp_components",
executable=LaunchConfiguration("container_executable"),
Expand All @@ -126,7 +126,7 @@ def launch_setup(context, *args, **kwargs):

load_composable_nodes = LoadComposableNodes(
composable_node_descriptions=composable_nodes,
target_container=LaunchConfiguration("container_name"),
target_container=LaunchConfiguration("pointcloud_container_name"),
condition=IfCondition(LaunchConfiguration("use_pointcloud_container")),
)

Expand Down Expand Up @@ -174,7 +174,8 @@ def add_launch_arg(name: str, default_value=None):
add_launch_arg("input_obstacle_pointcloud", "false"),
add_launch_arg("input_obstacle_and_raw_pointcloud", "true"),
add_launch_arg("use_pointcloud_container", "false"),
add_launch_arg("container_name", "occupancy_grid_map_container"),
add_launch_arg("pointcloud_container_name", "pointcloud_container"),
add_launch_arg("individual_container_name", "occupancy_grid_map_container"),
set_container_executable,
set_container_mt_executable,
]
Expand Down
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