feat: remove concatenate params from aip launcher and load from indiv…

…idual params

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

aip_x1_launch/config/concatenate_and_time_sync_node.param.yaml

@@ -2,8 +2,7 @@
   ros__parameters:
     debug_mode: false
     has_static_tf_only: false
-    rosbag_replay: false
-    rosbag_length: 20.0
+    rosbag_length: 10.0
     maximum_queue_size: 5
     timeout_sec: 0.2
     is_motion_compensated: true

aip_x1_launch/launch/lidar.launch.xml

@@ -48,10 +48,10 @@
     </group>
 
     <include file="$(find-pkg-share aip_x1_launch)/launch/pointcloud_preprocessor.launch.py">
-      <arg name="base_frame" value="base_link" />
       <arg name="use_intra_process" value="true" />
       <arg name="use_multithread" value="false" />
       <arg name="container_name" value="$(var pointcloud_container_name)"/>
+      <arg name="concatenate_and_time_sync_node_param_path" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x1/concatenate_and_time_sync_node.param.yaml" />
     </include>
 
   </group>

aip_x1_launch/launch/pointcloud_preprocessor.launch.py

@@ -12,9 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import os
 
-from ament_index_python.packages import get_package_share_directory
 import launch
 from launch.actions import DeclareLaunchArgument
 from launch.actions import OpaqueFunction
@@ -64,19 +62,10 @@ def generate_launch_description():
     def add_launch_arg(name: str, default_value=None):
         launch_arguments.append(DeclareLaunchArgument(name, default_value=default_value))
 
-    aip_x1_launch_share_dir = get_package_share_directory("aip_x1_launch")
-
     add_launch_arg("use_multithread", "False")
     add_launch_arg("use_intra_process", "False")
     add_launch_arg("pointcloud_container_name", "pointcloud_container")
-    add_launch_arg(
-        "concatenate_and_time_sync_node_param_path",
-        os.path.join(
-            aip_x1_launch_share_dir,
-            "config",
-            "concatenate_and_time_sync_node.param.yaml",
-        ),
-    )
+    add_launch_arg("concatenate_and_time_sync_node_param_path")
 
     set_container_executable = SetLaunchConfiguration(
         "container_executable",

aip_x2_launch/launch/lidar.launch.xml

@@ -210,10 +210,10 @@
     </group>
 
     <include file="$(find-pkg-share aip_x2_launch)/launch/pointcloud_preprocessor.launch.py">
-      <arg name="base_frame" value="base_link" />
       <arg name="use_intra_process" value="true" />
       <arg name="use_multithread" value="true" />
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+      <arg name="concatenate_and_time_sync_node_param_path" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/concatenate_and_time_sync_node.param.yaml" />
     </include>
 
   </group>

aip_x2_launch/launch/pointcloud_preprocessor.launch.py

@@ -12,9 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import os
 
-from ament_index_python.packages import get_package_share_directory
 import launch
 from launch.actions import DeclareLaunchArgument
 from launch.actions import OpaqueFunction
@@ -65,20 +63,10 @@ def generate_launch_description():
     def add_launch_arg(name: str, default_value=None):
         launch_arguments.append(DeclareLaunchArgument(name, default_value=default_value))
 
-    aip_x2_launch_share_dir = get_package_share_directory("aip_x2_launch")
-
     add_launch_arg("use_multithread", "True")
     add_launch_arg("use_intra_process", "True")
     add_launch_arg("pointcloud_container_name", "pointcloud_container")
-
-    add_launch_arg(
-        "concatenate_and_time_sync_node_param_path",
-        os.path.join(
-            aip_x2_launch_share_dir,
-            "config",
-            "concatenate_and_time_sync_node.param.yaml",
-        ),
-    )
+    add_launch_arg("concatenate_and_time_sync_node_param_path")
 
     set_container_executable = SetLaunchConfiguration(
         "container_executable",

aip_xx1_gen2_launch/config/lidar_gen2.yaml

@@ -50,20 +50,3 @@ launches:
       scan_phase: 270.0
       cloud_min_angle: 90
       cloud_max_angle: 270
-
-preprocessor:
-  input_topics:
-    - /sensing/lidar/top/pointcloud_before_sync
-    - /sensing/lidar/side_left/pointcloud_before_sync
-    - /sensing/lidar/side_right/pointcloud_before_sync
-    - /sensing/lidar/front_left/pointcloud_before_sync
-    - /sensing/lidar/front_right/pointcloud_before_sync
-  input_offset:
-    - 0.035
-    - 0.025
-    - 0.025
-    - 0.025
-    - 0.025
-  timeout_sec: 0.095
-  input_twist_topic_type: twist
-  publish_synchronized_pointcloud: true

aip_xx1_gen2_launch/launch/lidar.launch.py

@@ -15,9 +15,8 @@
 
 from copy import deepcopy
 import os
-from typing import Any
-from typing import List
 
+from launch_ros.substitutions import FindPackageShare
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
@@ -32,15 +31,6 @@
 import yaml
 
 
-def join_list_of_arguments(arguments: List[Any]) -> str:
-    """Join a list of arguments into a string, used by Include Launch Description.
-
-    Example:
-        join_list_of_arguments([1,2,3]) -> "[1, 2, 3]"
-    """
-    return f"[{', '.join([str(arg) for arg in arguments])}]"
-
-
 def generate_launch_dictionary():
     path_dictionary = {
         "hesai_OT128": AnyLaunchDescriptionSource(
@@ -122,7 +112,7 @@ def load_yaml(yaml_file_path):
         )
         sub_launch_actions.append(sub_launch_action)
 
-    processor_dict = config["preprocessor"]
+    # processor_dict = config["preprocessor"]
     sub_launch_actions.append(
         IncludeLaunchDescription(
             PythonLaunchDescriptionSource(
@@ -133,18 +123,19 @@ def load_yaml(yaml_file_path):
                 )
             ),
             launch_arguments=[
-                ("base_frame", "base_link"),
                 ("use_multithread", "true"),
                 ("use_intra_process", "true"),
                 ("use_pointcloud_container", LaunchConfiguration("use_pointcloud_container")),
                 ("pointcloud_container_name", LaunchConfiguration("pointcloud_container_name")),
-                ("input_topics", join_list_of_arguments(processor_dict["input_topics"])),
-                ("input_offset", join_list_of_arguments(processor_dict["input_offset"])),
-                ("timeout_sec", str(processor_dict["timeout_sec"])),
-                ("input_twist_topic_type", str(processor_dict["input_twist_topic_type"])),
                 (
-                    "publish_synchronized_pointcloud",
-                    str(processor_dict["publish_synchronized_pointcloud"]),
+                    "concatenate_and_time_sync_node_param_path",
+                    os.path.join(
+                        FindPackageShare("individual_params").find(),
+                        "config",
+                        LaunchConfiguration("vehicle_id").perform(None),
+                        "aip_xx1_gen2",
+                        "concatenate_and_time_sync_node.param.yaml",
+                    ),
                 ),
             ],
         )

aip_xx1_gen2_launch/launch/pointcloud_preprocessor.launch.py

@@ -12,9 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import os
-
-from ament_index_python.packages import get_package_share_directory
 import launch
 from launch.actions import DeclareLaunchArgument
 from launch.actions import OpaqueFunction
@@ -65,21 +62,12 @@ def generate_launch_description():
     def add_launch_arg(name: str, default_value=None):
         launch_arguments.append(DeclareLaunchArgument(name, default_value=default_value))
 
-    aip_xx1_gen2_launch_share_dir = get_package_share_directory("aip_xx1_gen2_launch")
-
     add_launch_arg("use_multithread", "False")
     add_launch_arg("use_intra_process", "False")
     add_launch_arg("pointcloud_container_name", "pointcloud_container")
     add_launch_arg("individual_container_name", "concatenate_container")
+    add_launch_arg("concatenate_and_time_sync_node_param_path")
 
-    add_launch_arg(
-        "concatenate_and_time_sync_node_param_path",
-        os.path.join(
-            aip_xx1_gen2_launch_share_dir,
-            "config",
-            "concatenate_and_time_sync_node.param.yaml",
-        ),
-    )
 
     set_container_executable = SetLaunchConfiguration(
         "container_executable",

aip_xx1_launch/launch/lidar.launch.xml

@@ -118,10 +118,10 @@
     </group> -->
 
     <include file="$(find-pkg-share aip_xx1_launch)/launch/pointcloud_preprocessor.launch.py">
-      <arg name="base_frame" value="base_link"/>
       <arg name="use_intra_process" value="true"/>
       <arg name="use_multithread" value="true"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+      <arg name="concatenate_and_time_sync_node_param_path" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_xx1/concatenate_and_time_sync_node.param.yaml" />
     </include>
 
   </group>

aip_xx1_launch/launch/pointcloud_preprocessor.launch.py

@@ -12,9 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import os
-
-from ament_index_python.packages import get_package_share_directory
 import launch
 from launch.actions import DeclareLaunchArgument
 from launch.actions import OpaqueFunction
@@ -65,19 +62,11 @@ def generate_launch_description():
     def add_launch_arg(name: str, default_value=None):
         launch_arguments.append(DeclareLaunchArgument(name, default_value=default_value))
 
-    aip_xx1_launch_share_dir = get_package_share_directory("aip_xx1_launch")
 
     add_launch_arg("use_multithread", "False")
     add_launch_arg("use_intra_process", "False")
     add_launch_arg("pointcloud_container_name", "pointcloud_container")
-    add_launch_arg(
-        "concatenate_and_time_sync_node_param_path",
-        os.path.join(
-            aip_xx1_launch_share_dir,
-            "config",
-            "concatenate_and_time_sync_node.param.yaml",
-        ),
-    )
+    add_launch_arg("concatenate_and_time_sync_node_param_path")
 
     set_container_executable = SetLaunchConfiguration(
         "container_executable",