feature(single_lidar_common_launch): load from parameter (#3)

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

single_lidar_common_launch/config/distortion_corrector_node.param.yaml

@@ -3,3 +3,4 @@
     base_frame: base_link
     use_imu: true
     use_3d_distortion_correction: false
+    update_azimuth_and_distance: false

single_lidar_common_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

single_lidar_common_launch/launch/nebula_node_container.launch.py

@@ -90,6 +90,10 @@ 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 = []
 
@@ -152,8 +156,8 @@ def create_parameter_dict(*args):
 
     nodes.append(
         ComposableNode(
-            package="pointcloud_preprocessor",
-            plugin="pointcloud_preprocessor::CropBoxFilterComponent",
+            package="autoware_pointcloud_preprocessor",
+            plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent",
             name="crop_box_filter_self",
             remappings=[
                 ("input", "pointcloud_raw_ex"),
@@ -174,8 +178,8 @@ def create_parameter_dict(*args):
 
     nodes.append(
         ComposableNode(
-            package="pointcloud_preprocessor",
-            plugin="pointcloud_preprocessor::CropBoxFilterComponent",
+            package="autoware_pointcloud_preprocessor",
+            plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent",
             name="crop_box_filter_mirror",
             remappings=[
                 ("input", "self_cropped/pointcloud_ex"),
@@ -188,8 +192,8 @@ def create_parameter_dict(*args):
 
     nodes.append(
         ComposableNode(
-            package="pointcloud_preprocessor",
-            plugin="pointcloud_preprocessor::DistortionCorrectorComponent",
+            package="autoware_pointcloud_preprocessor",
+            plugin="autoware::pointcloud_preprocessor::DistortionCorrectorComponent",
             name="distortion_corrector_node",
             remappings=[
                 ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
@@ -204,29 +208,27 @@ 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="pointcloud_preprocessor",
-            plugin="pointcloud_preprocessor::RingOutlierFilterComponent",
+            package="autoware_pointcloud_preprocessor",
+            plugin="autoware::pointcloud_preprocessor::RingOutlierFilterComponent",
             name="ring_outlier_filter",
             remappings=[
                 ("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")}],
         )
     )
 
     # set container to run all required components in the same process
     container = ComposableNodeContainer(
         name=LaunchConfiguration("container_name"),
-        namespace="pointcloud_preprocessor",
+        namespace="autoware_pointcloud_preprocessor",
         package="rclcpp_components",
         executable=LaunchConfiguration("container_executable"),
         composable_node_descriptions=nodes,
@@ -274,6 +276,7 @@ def add_launch_arg(name: str, default_value=None, description=None):
     add_launch_arg(
         "vehicle_mirror_param_file", description="path to the file of vehicle mirror position yaml"
     )
+
     add_launch_arg(
         "distortion_correction_node_param_path",
         os.path.join(
@@ -283,6 +286,15 @@ 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",