feature: filter load from parameter file

Signed-off-by: vividf <[email protected]>

common_awsim_labs_sensor_launch/config/filter.param.yaml

@@ -0,0 +1,8 @@
+/**:
+  ros__parameters:
+    input_frame: ""
+    output_frame: ""
+    max_queue_size: 5
+    use_indices: false
+    latched_indices: false
+    approximate_sync: false

common_awsim_labs_sensor_launch/launch/velodyne_node_container.launch.py

@@ -60,6 +60,10 @@ def create_parameter_dict(*args):
         return result
 
     # Pointcloud preprocessor parameters
+    filter_param = ParameterFile(
+        param_file=LaunchConfiguration("filter_param_path").perform(context),
+        allow_substs=True,
+    )
     distortion_corrector_node_param = ParameterFile(
         param_file=LaunchConfiguration("distortion_correction_node_param_path").perform(context),
         allow_substs=True,
@@ -98,7 +102,7 @@ def create_parameter_dict(*args):
                 ("input", "pointcloud_raw_ex"),
                 ("output", "self_cropped/pointcloud_ex"),
             ],
-            parameters=[cropbox_parameters],
+            parameters=[filter_param, cropbox_parameters],
             extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
         )
     )
@@ -120,7 +124,7 @@ def create_parameter_dict(*args):
                 ("input", "self_cropped/pointcloud_ex"),
                 ("output", "mirror_cropped/pointcloud_ex"),
             ],
-            parameters=[cropbox_parameters],
+            parameters=[filter_param, cropbox_parameters],
             extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
         )
     )
@@ -154,7 +158,7 @@ def create_parameter_dict(*args):
                 ("input", "rectified/pointcloud_ex"),
                 ("output", "pointcloud_before_sync"),
             ],
-            parameters=[ring_outlier_filter_node_param],
+            parameters=[filter_param, ring_outlier_filter_node_param],
             extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
         )
     )
@@ -195,6 +199,15 @@ def add_launch_arg(name: str, default_value=None, description=None):
     add_launch_arg("frame_id", "lidar", "frame id")
     add_launch_arg("use_multithread", "False", "use multithread")
     add_launch_arg("use_intra_process", "False", "use ROS2 component container communication")
+    add_launch_arg(
+        "filter_param_path",
+        os.path.join(
+            common_sensor_share_dir,
+            "config",
+            "filter.param.yaml",
+        ),
+        description="path to parameter file of filter",
+    )
     add_launch_arg(
         "distortion_correction_node_param_path",
         os.path.join(