Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

fix(ground_segmentation): missing default parameters ERROR #8538

Merged
merged 1 commit into from
Aug 20, 2024
Merged

fix(ground_segmentation): missing default parameters ERROR #8538

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
15 changes: 0 additions & 15 deletions perception/autoware_ground_segmentation/config/ground_segmentation.param.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,20 +1,5 @@
/**:
ros__parameters:
additional_lidars: []
ransac_input_topics: []
use_single_frame_filter: False
use_time_series_filter: True

common_crop_box_filter:
parameters:
min_x: -50.0
max_x: 100.0
min_y: -50.0
max_y: 50.0
max_z: 2.5 # recommended 2.5 for non elevation_grid_mode
min_z: -2.5 # recommended 0.0 for non elevation_grid_mode
negative: False

common_ground_filter:
plugin: "autoware::ground_segmentation::ScanGroundFilterComponent"
parameters:
Expand Down
18 changes: 12 additions & 6 deletions perception/autoware_ground_segmentation/launch/scan_ground_filter.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,15 @@ def launch_setup(context, *args, **kwargs):
with open(vehicle_info_param_path, "r") as f:
vehicle_info_param = yaml.safe_load(f)["/**"]["ros__parameters"]

ground_segmentation_param_path = os.path.join(
get_package_share_directory("autoware_ground_segmentation"),
"config",
"ground_segmentation.param.yaml",
)

with open(ground_segmentation_param_path, "r") as f:
ground_segmentation_param = yaml.safe_load(f)["/**"]["ros__parameters"]

nodes = [
ComposableNode(
package="autoware_ground_segmentation",
Expand All @@ -43,12 +52,9 @@ def launch_setup(context, *args, **kwargs):
("output", LaunchConfiguration("output/pointcloud")),
],
parameters=[
{
"global_slope_max_angle_deg": 10.0,
"local_slope_max_angle_deg": 30.0,
"split_points_distance_tolerance": 0.2,
"split_height_distance": 0.2,
},
ground_segmentation_param["common_ground_filter"]["parameters"],
{"input_frame": "base_link"},
{"output_frame": "base_link"},
vehicle_info_param,
],
),
Expand Down
Loading