From e0546b4a27e8119b82ffe7975e77c3ebc83638a8 Mon Sep 17 00:00:00 2001 From: Yamato Ando Date: Wed, 7 Feb 2024 18:07:46 +0900 Subject: [PATCH] add config files Signed-off-by: Yamato Ando --- .../lidar_marker_localizer.param.yaml | 32 +++++++++++++++++++ ...op_box_filter_measurement_range.param.yaml | 11 +++++++ .../ring_filter.param.yaml | 9 ++++++ .../tier4_localization_component.launch.xml | 5 +++ 4 files changed, 57 insertions(+) create mode 100644 autoware_launch/config/localization/lidar_marker_localizer/lidar_marker_localizer.param.yaml create mode 100644 autoware_launch/config/localization/lidar_marker_localizer/pointcloud_preprocessor/crop_box_filter_measurement_range.param.yaml create mode 100644 autoware_launch/config/localization/lidar_marker_localizer/pointcloud_preprocessor/ring_filter.param.yaml diff --git a/autoware_launch/config/localization/lidar_marker_localizer/lidar_marker_localizer.param.yaml b/autoware_launch/config/localization/lidar_marker_localizer/lidar_marker_localizer.param.yaml new file mode 100644 index 0000000000..fc1711b5a2 --- /dev/null +++ b/autoware_launch/config/localization/lidar_marker_localizer/lidar_marker_localizer.param.yaml @@ -0,0 +1,32 @@ +/**: + ros__parameters: + + # marker name + marker_name: "reflector" + + # for marker detection algorithm + resolution: 0.05 + # A sequence of high/low intensity to perform pattern matching. + # 1: high intensity (positive match), 0: not consider, -1: low intensity (negative match) + intensity_pattern: [-1, -1, 0, 1, 1, 1, 1, 1, 0, -1, -1] + match_intensity_difference_threshold: 20 + positive_match_num_threshold: 3 + negative_match_num_threshold: 3 + vote_threshold_for_detect_marker: 20 + + # for interpolate algorithm + self_pose_timeout_sec: 1.0 + self_pose_distance_tolerance_m: 1.0 + + # for validation + limit_distance_from_self_pose_to_nearest_marker: 2.0 + limit_distance_from_self_pose_to_marker: 2.0 + + # base_covariance + # [TBD] This value is dynamically scaled according to the distance at which markers are detected. + base_covariance: [0.04, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.04, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.00007569, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.00007569, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.00030625] diff --git a/autoware_launch/config/localization/lidar_marker_localizer/pointcloud_preprocessor/crop_box_filter_measurement_range.param.yaml b/autoware_launch/config/localization/lidar_marker_localizer/pointcloud_preprocessor/crop_box_filter_measurement_range.param.yaml new file mode 100644 index 0000000000..6b3986540d --- /dev/null +++ b/autoware_launch/config/localization/lidar_marker_localizer/pointcloud_preprocessor/crop_box_filter_measurement_range.param.yaml @@ -0,0 +1,11 @@ +/**: + ros__parameters: + input_frame: "base_link" + output_frame: "base_link" + min_x: -10.0 + max_x: 10.0 + min_y: 0.0 + max_y: 7.5 + min_z: -5.0 + max_z: 5.0 + negative: False diff --git a/autoware_launch/config/localization/lidar_marker_localizer/pointcloud_preprocessor/ring_filter.param.yaml b/autoware_launch/config/localization/lidar_marker_localizer/pointcloud_preprocessor/ring_filter.param.yaml new file mode 100644 index 0000000000..d93eb12d0e --- /dev/null +++ b/autoware_launch/config/localization/lidar_marker_localizer/pointcloud_preprocessor/ring_filter.param.yaml @@ -0,0 +1,9 @@ +/**: + ros__parameters: + input_frame: "base_link" + output_frame: "base_link" + filter_field_name: "ring" + filter_limit_min: 5 + filter_limit_max: 45 + filter_limit_negative: False + keep_organized: False diff --git a/autoware_launch/launch/components/tier4_localization_component.launch.xml b/autoware_launch/launch/components/tier4_localization_component.launch.xml index 70170a5fef..d76dd50aa2 100644 --- a/autoware_launch/launch/components/tier4_localization_component.launch.xml +++ b/autoware_launch/launch/components/tier4_localization_component.launch.xml @@ -43,6 +43,11 @@ + + + + +