feat: change pointcloud preprocess output from base_link to sensor_fr…

…ame (#90) * feat: edn Signed-off-by: yoshiri <[email protected]> * fix: suppress spell-check Signed-off-by: yoshiri <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: yoshiri <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
autowarefoundation · Feb 26, 2024 · c21d67e · c21d67e
1 parent f8c0877
commit c21d67e
Showing 1 changed file with 9 additions and 0 deletions.
diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py
@@ -188,6 +188,13 @@ 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):
+        ring_outlier_filter_parameters = {"output_frame": LaunchConfiguration("frame_id")}
+    else:
+        ring_outlier_filter_parameters = {
+            "output_frame": ""
+        }  # keep the output frame as the input frame
     nodes.append(
         ComposableNode(
             package="pointcloud_preprocessor",
@@ -197,6 +204,7 @@ def create_parameter_dict(*args):
                 ("input", "rectified/pointcloud_ex"),
                 ("output", "pointcloud"),
             ],
+            parameters=[ring_outlier_filter_parameters],
             extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
         )
     )
@@ -283,6 +291,7 @@ def add_launch_arg(name: str, default_value=None, description=None):
     add_launch_arg("use_multithread", "False", "use multithread")
     add_launch_arg("use_intra_process", "False", "use ROS 2 component container communication")
     add_launch_arg("lidar_container_name", "nebula_node_container")
+    add_launch_arg("output_as_sensor_frame", "True", "output final pointcloud in sensor frame")
 
     set_container_executable = SetLaunchConfiguration(
         "container_executable",