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refactor(map_tf_generator): rework parameters #6233

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merged 4 commits into from
Feb 6, 2024
Merged

refactor(map_tf_generator): rework parameters #6233

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b37d6ea
refactor(map_tf_generator): rework parameters
YamatoAndo Jan 30, 2024
4e7cf65
add config
YamatoAndo Jan 31, 2024
f9c7bab
Merge branch 'main' into refactor/map_tf_generator/rework_parameters
YamatoAndo Feb 5, 2024
2762656
style(pre-commit): autofix
pre-commit-ci[bot] Feb 5, 2024
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4 changes: 2 additions & 2 deletions launch/tier4_map_launch/launch/map.launch.xml
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Expand Up @@ -8,6 +8,7 @@
<!-- Parameter files -->
<arg name="pointcloud_map_loader_param_path"/>
<arg name="lanelet2_map_loader_param_path"/>
<arg name="map_tf_generator_param_path"/>

<!-- whether use intra-process -->
<arg name="use_intra_process" default="false"/>
Expand Down Expand Up @@ -47,8 +48,7 @@
</composable_node>

<composable_node pkg="map_tf_generator" plugin="VectorMapTFGeneratorNode" name="vector_map_tf_generator">
<param name="map_frame" value="map"/>
<param name="viewer_frame" value="viewer"/>
<param from="$(var map_tf_generator_param_path)"/>
<extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
</composable_node>
</node_container>
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5 changes: 1 addition & 4 deletions map/map_tf_generator/Readme.md → map/map_tf_generator/README.md
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Expand Up @@ -43,10 +43,7 @@ None

### Core Parameters

| Name | Type | Default Value | Explanation |
| -------------- | ------ | ------------- | ------------------------------------- |
| `viewer_frame` | string | viewer | Name of `viewer` frame |
| `map_frame` | string | map | The parent frame name of viewer frame |
{{ json_to_markdown("map/map_tf_generator/schema/map_tf_generator.schema.json") }}

## Assumptions / Known limits

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4 changes: 4 additions & 0 deletions map/map_tf_generator/config/map_tf_generator.param.yaml
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@@ -0,0 +1,4 @@
/**:
ros__parameters:
map_frame: map
viewer_frame: viewer
8 changes: 3 additions & 5 deletions map/map_tf_generator/launch/map_tf_generator.launch.xml
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@@ -1,13 +1,11 @@
<launch>
<arg name="input_vector_map_topic" default="/map/vector_map"/>
<arg name="param_file" default="$(find-pkg-share map_tf_generator)/config/map_tf_generator.param.yaml"/>

<arg name="map_frame" default="map"/>
<arg name="viewer_frame" default="viewer"/>
<arg name="input_vector_map_topic" default="/map/vector_map"/>

<node pkg="map_tf_generator" exec="vector_map_tf_generator" name="vector_map_tf_generator">
<remap from="vector_map" to="$(var input_vector_map_topic)"/>

<param name="map_frame" value="$(var map_frame)"/>
<param name="viewer_frame" value="$(var viewer_frame)"/>
<param from="$(var param_file)"/>
</node>
</launch>
38 changes: 38 additions & 0 deletions map/map_tf_generator/schema/map_tf_generator.schema.json
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@@ -0,0 +1,38 @@
{
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "Parameters for Map Tf Generator",
"type": "object",
"definitions": {
"map_tf_generator": {
"type": "object",
"properties": {
"map_frame": {
"type": "string",
"description": "The parent frame name of viewer frame",
"default": "map"
},
"viewer_frame": {
"type": "string",
"description": "Name of `viewer` frame",
"default": "viewer"
}
},
"required": ["map_frame", "viewer_frame"],
"additionalProperties": false
}
},
"properties": {
"/**": {
"type": "object",
"properties": {
"ros__parameters": {
"$ref": "#/definitions/map_tf_generator"
}
},
"required": ["ros__parameters"],
"additionalProperties": false
}
},
"required": ["/**"],
"additionalProperties": false
}
4 changes: 2 additions & 2 deletions map/map_tf_generator/src/pcd_map_tf_generator_node.cpp
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Expand Up @@ -36,8 +36,8 @@ class PcdMapTFGeneratorNode : public rclcpp::Node
explicit PcdMapTFGeneratorNode(const rclcpp::NodeOptions & options)
: Node("pcd_map_tf_generator", options)
{
map_frame_ = declare_parameter("map_frame", "map");
viewer_frame_ = declare_parameter("viewer_frame", "viewer");
map_frame_ = declare_parameter<std::string>("map_frame");
viewer_frame_ = declare_parameter<std::string>("viewer_frame");

sub_ = create_subscription<sensor_msgs::msg::PointCloud2>(
"pointcloud_map", rclcpp::QoS{1}.transient_local(),
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4 changes: 2 additions & 2 deletions map/map_tf_generator/src/vector_map_tf_generator_node.cpp
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Expand Up @@ -31,8 +31,8 @@ class VectorMapTFGeneratorNode : public rclcpp::Node
explicit VectorMapTFGeneratorNode(const rclcpp::NodeOptions & options)
: Node("vector_map_tf_generator", options)
{
map_frame_ = declare_parameter("map_frame", "map");
viewer_frame_ = declare_parameter("viewer_frame", "viewer");
map_frame_ = declare_parameter<std::string>("map_frame");
viewer_frame_ = declare_parameter<std::string>("viewer_frame");

sub_ = create_subscription<autoware_auto_mapping_msgs::msg::HADMapBin>(
"vector_map", rclcpp::QoS{1}.transient_local(),
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