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feat(pointcloud_preprocessor): load_distortion_parameter_from_yaml #93
feat(pointcloud_preprocessor): load_distortion_parameter_from_yaml #93
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Signed-off-by: vividf <yihsiang.fang@tier4.jp>
Signed-off-by: vividf <yihsiang.fang@tier4.jp>
…_sensor_launch Signed-off-by: vividf <yihsiang.fang@tier4.jp>
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LGTM
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In the past we used the yaml way of loading parameters due to a combination of
# https://github.com/ros2/launch_ros/issues/156
def load_composable_node_param(param_path):
with open(LaunchConfiguration(param_path).perform(context), "r") as f:
return yaml.safe_load(f)["/**"]["ros__parameters"]
and the need of doing algebra with the vehicle dimensions (as far as I could deduce, never heard it from someone).
Do we not use ParameterFile
now? If not, can you tell me the reason?
@knzo25 |
That is not an appropriate answer ("because somewhere else it is done" it not correct. It may be wrong there as well). |
I invite you to read the original repository if you have doubts: The commit you mention looks ok. Did you make another PR for the company launchers (sorry if I missed that one but haven't gotten any notifications)? *consistent |
Signed-off-by: vividf <yihsiang.fang@tier4.jp>
@vividf |
@knzo25 |
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LGTM
Description
PR: autowarefoundation/autoware.universe#7137 removes the default parameters from the distortion correction node and add the parameters file for the distortion node.
As the default parameters are removed, nebula_node_container.launch.py needs to load the parameters from yaml file.
Related links
Tests performed
tested the command
with sample_rosbag
Notes for reviewers
This PR needs to be merged with autowarefoundation/autoware.universe#7137
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