feat: implemented the launcher-side changes for the cuda preprocessin…

…g and transport layer

Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>

aip_x1_launch/config/concatenate_and_time_sync_node.param.yaml

@@ -1,5 +1,6 @@
 /**:
   ros__parameters:
+    use_cuda: false
     debug_mode: false
     has_static_tf_only: false
     rosbag_replay: false

aip_x2_launch/config/concatenate_and_time_sync_node.param.yaml

@@ -1,5 +1,6 @@
 /**:
   ros__parameters:
+    use_cuda: false
     debug_mode: false
     has_static_tf_only: false
     rosbag_replay: false

aip_xx1_gen2_launch/config/concatenate_and_time_sync_node.param.yaml

@@ -1,5 +1,6 @@
 /**:
   ros__parameters:
+    use_cuda: false
     debug_mode: false
     has_static_tf_only: false
     rosbag_replay: false

aip_xx1_launch/config/concatenate_and_time_sync_node.param.yaml

@@ -1,8 +1,9 @@
 /**:
   ros__parameters:
+    use_cuda: true
     debug_mode: false
     has_static_tf_only: false
-    rosbag_replay: false
+    rosbag_replay: true
     rosbag_length: 20.0
     maximum_queue_size: 5
     timeout_sec: 0.2

aip_xx1_launch/launch/lidar.launch.xml

@@ -6,6 +6,8 @@
   <arg name ="vehicle_id" default="$(env VEHICLE_ID default)"/>
   <arg name="vehicle_mirror_param_file"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
+  <arg name="use_pointcloud_container" default="true"/>
+  <arg name="use_cuda_preprocessor" default="true"/>
   <arg name="enable_blockage_diag" default="true"/>
 
   <group>
@@ -23,6 +25,9 @@
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="pointcloud_container"/>
+        <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+        <arg name="use_cuda_preprocessor" value="$(var use_cuda_preprocessor)"/>
         <arg name="vertical_bins" value="128"/>
         <arg name="horizontal_ring_id" value="64"/>
         <arg name="is_channel_order_top2down" value="false"/>
@@ -45,6 +50,9 @@
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="pointcloud_container"/>
+        <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+        <arg name="use_cuda_preprocessor" value="$(var use_cuda_preprocessor)"/>
         <arg name="vertical_bins" value="16"/>
         <arg name="horizontal_ring_id" value="0"/>
         <arg name="is_channel_order_top2down" value="false"/>
@@ -67,6 +75,9 @@
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="pointcloud_container"/>
+        <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+        <arg name="use_cuda_preprocessor" value="$(var use_cuda_preprocessor)"/>
         <arg name="vertical_bins" value="16"/>
         <arg name="horizontal_ring_id" value="0"/>
         <arg name="is_channel_order_top2down" value="false"/>
@@ -89,6 +100,9 @@
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="pointcloud_container"/>
+        <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+        <arg name="use_cuda_preprocessor" value="$(var use_cuda_preprocessor)"/>
         <arg name="vertical_bins" value="16"/>
         <arg name="horizontal_ring_id" value="0"/>
         <arg name="is_channel_order_top2down" value="false"/>

aip_xx1_launch/launch/pointcloud_preprocessor.launch.py

@@ -44,9 +44,11 @@ def launch_setup(context, *args, **kwargs):
         remappings=[
             ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
             ("output", "concatenated/pointcloud"),
+            ("output/cuda", "concatenated/pointcloud/cuda"),
         ],
         parameters=[concatenate_and_time_sync_node_param],
-        extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
+        # NOTE(knzo25): when using  the cuda blackboard, this setting can not be made global
+        # extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )
 
     # load concat or passthrough filter

aip_xx1_launch/package.xml

@@ -10,6 +10,7 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
+  <exec_depend>autoware_cuda_pointcloud_preprocessor</exec_depend>
   <exec_depend>autoware_gnss_poser</exec_depend>
   <exec_depend>autoware_imu_corrector</exec_depend>
   <exec_depend>autoware_pointcloud_preprocessor</exec_depend>

common_sensor_launch/launch/hesai_OT128.launch.xml

@@ -18,6 +18,9 @@
   <arg name="dual_return_distance_threshold" default="0.1"/>
   <arg name="vehicle_mirror_param_file"/>
   <arg name="container_name" default="hesai_node_container"/>
+  <arg name="pointcloud_container_name" default="pointcloud_container"/>
+  <arg name="use_pointcloud_container" default="false"/>
+  <arg name="use_cuda_preprocessor" default="false"/>
 
   <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
     <arg name="launch_driver" value="$(var launch_driver)"/>
@@ -36,6 +39,9 @@
     <arg name="use_intra_process" value="true"/>
     <arg name="use_multithread" value="true"/>
     <arg name="container_name" value="$(var container_name)"/>
+    <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+    <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+    <arg name="use_cuda_preprocessor" value="$(var use_cuda_preprocessor)"/>
     <arg name="ptp_profile" value="automotive"/>
     <arg name="ptp_transport_type" value="L2"/>
     <arg name="ptp_switch_type" value="NON_TSN"/>

common_sensor_launch/launch/hesai_XT32.launch.xml

@@ -18,6 +18,9 @@
   <arg name="dual_return_distance_threshold" default="0.1"/>
   <arg name="vehicle_mirror_param_file"/>
   <arg name="container_name" default="hesai_node_container"/>
+  <arg name="pointcloud_container_name" default="pointcloud_container"/>
+  <arg name="use_pointcloud_container" default="false"/>
+  <arg name="use_cuda_preprocessor" default="false"/>
 
   <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
     <arg name="launch_driver" value="$(var launch_driver)"/>
@@ -42,5 +45,8 @@
     <arg name="setup_sensor" value="true"/>
     <arg name="retry_hw" value="true"/>
     <arg name="container_name" value="$(var container_name)"/>
+    <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+    <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+    <arg name="use_cuda_preprocessor" value="$(var use_cuda_preprocessor)"/>
   </include>
 </launch>