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refactor: update for the awsim_labs (#2)
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Signed-off-by: M. Fatih Cırıt <[email protected]>
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xmfcx authored Apr 24, 2024
1 parent c698f24 commit 02a0859
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2 changes: 1 addition & 1 deletion NOTICE
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awsim_sensor_kit_launch
awsim_labs_sensor_kit_launch
Copyright 2021 The Autoware Foundation

This product includes software developed at
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2 changes: 1 addition & 1 deletion README.md
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# awsim_sensor_kit_launch
# awsim_labs_sensor_kit_launch
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cmake_minimum_required(VERSION 3.5)
project(awsim_sensor_kit_description)
project(awsim_labs_sensor_kit_description)

find_package(ament_cmake_auto REQUIRED)

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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>awsim_sensor_kit_description</name>
<name>awsim_labs_sensor_kit_description</name>
<version>0.1.0</version>
<description>The awsim_sensor_kit_description package</description>
<description>The awsim_labs_sensor_kit_description package</description>
<maintainer email="[email protected]">Piotr Jaroszek</maintainer>
<license>Apache License 2.0</license>

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<xacro:include filename="$(find imu_description)/urdf/imu.xacro"/>

<xacro:arg name="gpu" default="false"/>
<xacro:arg name="config_dir" default="$(find awsim_sensor_kit_description)/config"/>
<xacro:arg name="config_dir" default="$(find awsim_labs_sensor_kit_description)/config"/>

<xacro:property name="sensor_kit_base_link" default="sensor_kit_base_link"/>

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<?xml version="1.0"?>
<robot name="vehicle" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:arg name="config_dir" default="$(find awsim_sensor_kit_description)/config"/>
<xacro:arg name="config_dir" default="$(find awsim_labs_sensor_kit_description)/config"/>
<xacro:property name="calibration" value="${xacro.load_yaml('$(arg config_dir)/sensors_calibration.yaml')}"/>

<!-- sensor kit -->
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cmake_minimum_required(VERSION 3.5)
project(awsim_sensor_kit_launch)
project(awsim_labs_sensor_kit_launch)

find_package(ament_cmake_auto REQUIRED)
ament_auto_find_build_dependencies()
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<group>
<push-ros-namespace namespace="top"/>
<include file="$(find-pkg-share common_awsim_sensor_launch)/launch/velodyne_lidar.launch.xml">
<include file="$(find-pkg-share common_awsim_labs_sensor_launch)/launch/velodyne_lidar.launch.xml">
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
<arg name="use_distortion_corrector" value="$(var use_distortion_corrector)"/>
<arg name="container_name" value="pointcloud_container"/>
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<group>
<push-ros-namespace namespace="left"/>
<include file="$(find-pkg-share common_awsim_sensor_launch)/launch/velodyne_lidar.launch.xml">
<include file="$(find-pkg-share common_awsim_labs_sensor_launch)/launch/velodyne_lidar.launch.xml">
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
<arg name="use_distortion_corrector" value="$(var use_distortion_corrector)"/>
<arg name="container_name" value="pointcloud_container"/>
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<group>
<push-ros-namespace namespace="right"/>
<include file="$(find-pkg-share common_awsim_sensor_launch)/launch/velodyne_lidar.launch.xml">
<include file="$(find-pkg-share common_awsim_labs_sensor_launch)/launch/velodyne_lidar.launch.xml">
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
<arg name="use_distortion_corrector" value="$(var use_distortion_corrector)"/>
<arg name="container_name" value="pointcloud_container"/>
</include>
</group>

<include file="$(find-pkg-share awsim_sensor_kit_launch)/launch/pointcloud_preprocessor.launch.py">
<include file="$(find-pkg-share awsim_labs_sensor_kit_launch)/launch/pointcloud_preprocessor.launch.py">
<arg name="base_frame" value="base_link"/>
<arg name="use_intra_process" value="true"/>
<arg name="use_multithread" value="true"/>
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<group>
<!-- LiDAR Driver -->
<include file="$(find-pkg-share awsim_sensor_kit_launch)/launch/lidar.launch.xml">
<include file="$(find-pkg-share awsim_labs_sensor_kit_launch)/launch/lidar.launch.xml">
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
<arg name="use_distortion_corrector" value="$(var use_distortion_corrector)"/>
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<!-- Camera Driver is not needed because the AWSIM already publishes camera_info and image_raw. No relays are needed from hardware drivers. -->

<!-- IMU Driver -->
<include file="$(find-pkg-share awsim_sensor_kit_launch)/launch/imu.launch.xml"/>
<include file="$(find-pkg-share awsim_labs_sensor_kit_launch)/launch/imu.launch.xml"/>

<!-- GNSS Driver -->
<!-- GNSS Drives in not needed because the AWSIM already publishes both gnss pose and pose with covariance topics -->
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>awsim_sensor_kit_launch</name>
<name>awsim_labs_sensor_kit_launch</name>
<version>0.1.0</version>
<description>The awsim_sensor_kit_launch package</description>
<description>The awsim_labs_sensor_kit_launch package</description>
<maintainer email="[email protected]">Piotr Jaroszek</maintainer>
<license>Apache License 2.0</license>

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cmake_minimum_required(VERSION 3.5)
project(common_awsim_sensor_launch)
project(common_awsim_labs_sensor_launch)

find_package(ament_cmake_auto REQUIRED)
ament_auto_find_build_dependencies()
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<arg name="use_distortion_corrector" default="true"/>
<arg name="container_name" default="velodyne_node_container"/>

<include file="$(find-pkg-share common_awsim_sensor_launch)/launch/velodyne_node_container.launch.py">
<include file="$(find-pkg-share common_awsim_labs_sensor_launch)/launch/velodyne_node_container.launch.py">
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
<arg name="use_intra_process" value="true"/>
<arg name="use_multithread" value="false"/>
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>common_awsim_sensor_launch</name>
<name>common_awsim_labs_sensor_launch</name>
<version>0.1.0</version>
<description>The common_sensor_launch package</description>
<maintainer email="[email protected]">Piotr Jaroszek</maintainer>
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