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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,3 +1,4 @@ | ||
| /**: | ||
| ros__parameters: | ||
| center_line_resolution: 5.0 # [m] | ||
| lanelet2_map_path: "" # The lanelet2 map path |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,14 +1,10 @@ | ||
| <launch> | ||
| <arg name="pointcloud_map_path"/> | ||
| <arg name="pointcloud_map_metadata_path"/> | ||
| <arg name="pointcloud_map_loader_param_path" default="$(find-pkg-share map_loader)/config/pointcloud_map_loader.param.yaml"/> | ||
|
|
||
| <node pkg="map_loader" exec="pointcloud_map_loader" name="pointcloud_map_loader" output="screen"> | ||
| <remap from="output/pointcloud_map" to="/map/pointcloud_map"/> | ||
| <remap from="service/get_partial_pcd_map" to="/map/get_partial_pointcloud_map"/> | ||
| <remap from="service/get_selected_pcd_map" to="/map/get_selected_pointcloud_map"/> | ||
| <param name="pcd_paths_or_directory" value="[$(var pointcloud_map_path)]"/> | ||
| <param name="pcd_metadata_path" value="$(var pcd_metadata_path)"/> | ||
| <param from="$(var pointcloud_map_loader_param_path)"/> | ||
| </node> | ||
| </launch> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,42 @@ | ||
| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "Parameters for lanelet2 map loader Node", | ||
| "type": "object", | ||
| "definitions": { | ||
| "lanelet2_map_loader": { | ||
| "type": "object", | ||
| "properties": { | ||
| "center_line_resolution": { | ||
| "type": "number", | ||
| "description": "Resolution of the Lanelet center line [m]", | ||
| "default": "5.0" | ||
| }, | ||
| "lanelet2_map_path": { | ||
| "type": "string", | ||
| "description": "The lanelet2 map path pointing to the .osm file", | ||
| "default": "" | ||
| } | ||
| }, | ||
| "required": [ | ||
| "center_line_resolution", | ||
| "lanelet2_map_path" | ||
| ], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "properties": { | ||
| "/**": { | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "$ref": "#/definitions/lanelet2_map_loader" | ||
| } | ||
| }, | ||
| "required": ["ros__parameters"], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "required": ["/**"], | ||
| "additionalProperties": false | ||
| } | ||
|
|
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,72 @@ | ||
| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "Parameters for point cloud map loader Node", | ||
| "type": "object", | ||
| "definitions": { | ||
| "pointcloud_map_loader": { | ||
| "type": "object", | ||
| "properties": { | ||
| "enable_whole_load": { | ||
| "type": "boolean", | ||
| "description": "Enable raw pointcloud map publishing", | ||
| "default": true | ||
| }, | ||
| "enable_downsampled_whole_load": { | ||
| "type": "boolean", | ||
| "description": "Enable downsampled pointcloud map publishing", | ||
| "default": false | ||
| }, | ||
| "enable_partial_load": { | ||
| "type": "boolean", | ||
| "description": "Enable partial pointcloud map server", | ||
| "default": true | ||
| }, | ||
| "enable_selected_load": { | ||
| "type": "boolean", | ||
| "description": "Enable selected pointcloud map server", | ||
| "default": false | ||
| }, | ||
| "leaf_size": { | ||
| "type": "number", | ||
| "description": "Downsampling leaf size (only used when enable_downsampled_whole_load is set true)", | ||
| "default": 3.0 | ||
| }, | ||
| "pcd_paths_or_directory": { | ||
| "type": "array", | ||
| "description": "Path(s) to pointcloud map file or directory", | ||
| "default": [] | ||
| }, | ||
| "pcd_metadata_path": { | ||
| "type": "string", | ||
| "description": "Path to pointcloud metadata file", | ||
| "default": "" | ||
| } | ||
| }, | ||
| "required": [ | ||
| "enable_whole_load", | ||
| "enable_downsampled_whole_load", | ||
| "enable_partial_load", | ||
| "enable_selected_load", | ||
| "leaf_size", | ||
| "pcd_paths_or_directory", | ||
| "pcd_metadata_path" | ||
| ], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "properties": { | ||
| "/**": { | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "$ref": "#/definitions/pointcloud_map_loader" | ||
| } | ||
| }, | ||
| "required": ["ros__parameters"], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "required": ["/**"], | ||
| "additionalProperties": false | ||
| } | ||
|
|