feat(tier4_localization_component_launch): add an option not to use exisitng pointcloud preprocessing node containers #890
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… be able to choose whether to launch a new node_container for the localization. Signed-off-by: TaikiYamada4 <[email protected]>
TaikiYamada4
requested review from
anhnv3991,
YamatoAndo,
KYabuuchi,
SakodaShintaro and
Motsu-san
yuki-takagi-66
pushed a commit
to tier4/autoware_launch
that referenced
this pull request
Jul 3, 2024
…oundation#890) * fix_pointpainting_path Signed-off-by: Yuxuan Liu <[email protected]> * style(pre-commit): autofix * merge Signed-off-by: Yuxuan Liu <[email protected]> * add centerpoint_xx1 param Signed-off-by: Yuxuan Liu <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: Yuxuan Liu <[email protected]> Co-authored-by: Yuxuan Liu <[email protected]> Co-authored-by: Owen-Liuyuxuan <[email protected]>
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Description
We had a discussion to change the default
input_pointcloudto be/sensing/lidar/concatenated/pointcloud, and we need an option to launch a node container only for pointcloud preprocessing nodes in the localization component (/localization/util/....) since we cannot load these to the fully loaded /pointcloud_container.See the PR in autoware.universe for more information.
The argument
lidar_container_nameis changed totarget_pointcloud_container_namesince it might not be a node container related to a specific LiDAR.Related links
This PR has to be merged with this PR in autoware.universe!!
Tests performed
I tested this launch system via the logging_simulator tutorial and get the following results when I
ros2 component listNotes for reviewers
This PR has to be merged with this PR in autoware.universe!!
Interface changes
A new node_container named
/localization/util/pointcloud_preprocessor/pointcloud_containerwill be launched, and/localization/util/crop_box_filter_measurement_range,/localization/util/voxel_grid_downsample_filter, and/localization/util/random_downsample_filterwill be added to it.Effects on system behavior
If the user didn't define
target_pointcloud_container_nameby commenting it out, the pointcloud publication/subscription between sensing & localization components will be done outside the node container, which leads to an increase of latency. (about + 20ms in my PC).Pre-review checklist for the PR author
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