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update nebula node container to use X2 pipeline
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Signed-off-by: Tomohito Ando <[email protected]>
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@TomohitoAndo
TomohitoAndo committed Jun 21, 2024
1 parent a3645c5 commit 35eda47
Showing 1 changed file with 12 additions and 101 deletions.
113 changes: 12 additions & 101 deletions aip_x2_launch/launch/nebula_node_container.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,8 @@
from launch_ros.actions import ComposableNodeContainer
from launch_ros.actions import LoadComposableNodes
from launch_ros.descriptions import ComposableNode
from launch.conditions import LaunchConfigurationNotEquals
from launch.conditions import LaunchConfigurationEquals
import yaml


Expand Down Expand Up @@ -186,105 +188,6 @@ def str2vector(string):
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
)

# cropbox_parameters = create_parameter_dict("input_frame", "output_frame")
# cropbox_parameters["negative"] = True

# vehicle_info = get_vehicle_info(context)
# cropbox_parameters["min_x"] = vehicle_info["min_longitudinal_offset"]
# cropbox_parameters["max_x"] = vehicle_info["max_longitudinal_offset"]
# cropbox_parameters["min_y"] = vehicle_info["min_lateral_offset"]
# cropbox_parameters["max_y"] = vehicle_info["max_lateral_offset"]
# cropbox_parameters["min_z"] = vehicle_info["min_height_offset"]
# cropbox_parameters["max_z"] = vehicle_info["max_height_offset"]

# nodes.append(
# ComposableNode(
# package="pointcloud_preprocessor",
# plugin="pointcloud_preprocessor::CropBoxFilterComponent",
# name="crop_box_filter_self",
# remappings=[
# ("input", "pointcloud_raw_ex"),
# # ("output", "self_cropped_temp/pointcloud_ex"),
# ("output", "self_cropped/pointcloud_ex"),
# ],
# parameters=[cropbox_parameters],
# extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
# )
# )

# # mirror_info = get_vehicle_mirror_info(context)
# # cropbox_parameters["min_x"] = mirror_info["min_longitudinal_offset"]
# # cropbox_parameters["max_x"] = mirror_info["max_longitudinal_offset"]
# # cropbox_parameters["min_y"] = mirror_info["min_lateral_offset"]
# # cropbox_parameters["max_y"] = mirror_info["max_lateral_offset"]
# # cropbox_parameters["min_z"] = mirror_info["min_height_offset"]
# # cropbox_parameters["max_z"] = mirror_info["max_height_offset"]

# # todo: miura 24/03/03 temporarily added
# cropbox_parameters["negative"] = True
# cropbox_parameters["min_x"] = -50.0
# cropbox_parameters["max_x"] = 50.0
# cropbox_parameters["min_y"] = -50.0
# cropbox_parameters["max_y"] = 50.0
# # cropbox_parameters["min_z"] = 0.8
# # cropbox_parameters["max_z"] = 5.0
# cropbox_parameters["min_z"] = 4.5
# cropbox_parameters["max_z"] = 7.0

# # nodes.append(
# # ComposableNode(
# # package="pointcloud_preprocessor",
# # plugin="pointcloud_preprocessor::CropBoxFilterComponent",
# # name="crop_box_filter_ceiling",
# # remappings=[
# # ("input", "self_cropped_temp/pointcloud_ex"),
# # ("output", "self_cropped/pointcloud_ex"),
# # ],
# # parameters=[cropbox_parameters],
# # extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
# # )
# # )

# nodes.append(
# ComposableNode(
# package="pointcloud_preprocessor",
# plugin="pointcloud_preprocessor::DistortionCorrectorComponent",
# name="distortion_corrector_node",
# remappings=[
# ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
# ("~/input/imu", "/sensing/imu/imu_data"),
# ("~/input/pointcloud", "mirror_cropped/pointcloud_ex"),
# ("~/output/pointcloud", "rectified/pointcloud_ex"),
# ],
# extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
# )
# )

# nodes.append(
# ComposableNode(
# package="pointcloud_preprocessor",
# plugin="pointcloud_preprocessor::RingOutlierFilterComponent",
# name="ring_outlier_filter",
# remappings=[
# ("input", "self_cropped/pointcloud_ex"), #todo: miura 24/03/03 temporarily input self_cropped/point
# ("output", "pointcloud"),
# ],
# 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="",
# package="rclcpp_components",
# executable="component_container_mt",
# composable_node_descriptions=nodes,
# output="both",
# )

# return [container]

cropbox_parameters = create_parameter_dict("input_frame", "output_frame")
cropbox_parameters["negative"] = True

Expand Down Expand Up @@ -427,7 +330,7 @@ def str2vector(string):
executable=LaunchConfiguration("container_executable"),
composable_node_descriptions=[
glog_component,
pointcloud_component,
nebula_ros_driver_component,
self_crop_component,
right_mirror_crop_component,
left_mirror_crop_component,
Expand All @@ -437,7 +340,6 @@ def str2vector(string):

driver_loader = LoadComposableNodes(
composable_node_descriptions=[
nebula_ros_hw_interface_component,
nebula_ros_hw_interface_component,
nebula_ros_hw_monitor_component,
],
Expand Down Expand Up @@ -511,6 +413,15 @@ def add_launch_arg(name: str, default_value=None, description=None):
add_launch_arg("container_name", "nebula_node_container")

add_launch_arg("dual_return_filter_param_file")
add_launch_arg("blockage_diagnostics_param_file")

add_launch_arg("vertical_bins", "40")
add_launch_arg("horizontal_ring_id", "12")
add_launch_arg("blockage_range", "[270.0, 90.0]")

add_launch_arg("min_azimuth_deg", "135.0")
add_launch_arg("max_azimuth_deg", "225.0")
add_launch_arg("enable_blockage_diag", "true")


set_container_executable = SetLaunchConfiguration(
Expand Down

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