feat(common_sensor_launch): ring outlier filter load from param file (#…

…103) * feat: ring outlier filter load from param file Signed-off-by: vividf <[email protected]> * fix: fix variable name Signed-off-by: vividf <[email protected]> * chore: fix description Signed-off-by: vividf <[email protected]> --------- Signed-off-by: vividf <[email protected]>
autowarefoundation · Oct 1, 2024 · a5e7a2d · a5e7a2d
1 parent fcc7cde
commit a5e7a2d
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Showing 2 changed files with 30 additions and 5 deletions.
diff --git a/common_sensor_launch/config/ring_outlier_filter_node.param.yaml b/common_sensor_launch/config/ring_outlier_filter_node.param.yaml
@@ -0,0 +1,14 @@
+/**:
+  ros__parameters:
+    distance_ratio: 1.03
+    object_length_threshold: 0.1
+    num_points_threshold: 4
+    max_rings_num: 128
+    max_points_num_per_ring: 4000
+    publish_outlier_pointcloud: false
+    min_azimuth_deg: 0.0
+    max_azimuth_deg: 360.0
+    max_distance: 12.0
+    vertical_bins: 128
+    horizontal_bins: 36
+    noise_threshold: 2
diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py
@@ -95,6 +95,10 @@ def create_parameter_dict(*args):
         param_file=LaunchConfiguration("distortion_correction_node_param_path").perform(context),
         allow_substs=True,
     )
+    ring_outlier_filter_node_param = ParameterFile(
+        param_file=LaunchConfiguration("ring_outlier_filter_node_param_path").perform(context),
+        allow_substs=True,
+    )
 
     nodes = []
 
@@ -206,11 +210,9 @@ def create_parameter_dict(*args):
 
     # Ring Outlier Filter is the last component in the pipeline, so control the output frame here
     if LaunchConfiguration("output_as_sensor_frame").perform(context).lower() == "true":
-        ring_outlier_filter_parameters = {"output_frame": LaunchConfiguration("frame_id")}
+        ring_outlier_output_frame = {"output_frame": LaunchConfiguration("frame_id")}
     else:
-        ring_outlier_filter_parameters = {
-            "output_frame": ""
-        }  # keep the output frame as the input frame
+        ring_outlier_output_frame = {"output_frame": ""}  # keep the output frame as the input frame
     nodes.append(
         ComposableNode(
             package="autoware_pointcloud_preprocessor",
@@ -220,7 +222,7 @@ def create_parameter_dict(*args):
                 ("input", "rectified/pointcloud_ex"),
                 ("output", "pointcloud_before_sync"),
             ],
-            parameters=[ring_outlier_filter_parameters],
+            parameters=[ring_outlier_filter_node_param, ring_outlier_output_frame],
             extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
         )
     )
@@ -319,6 +321,15 @@ def add_launch_arg(name: str, default_value=None, description=None):
         ),
         description="path to parameter file of distortion correction node",
     )
+    add_launch_arg(
+        "ring_outlier_filter_node_param_path",
+        os.path.join(
+            common_sensor_share_dir,
+            "config",
+            "ring_outlier_filter_node.param.yaml",
+        ),
+        description="path to parameter file of ring outlier filter node",
+    )
 
     set_container_executable = SetLaunchConfiguration(
         "container_executable",