Merge branch 'tier4/universe' into feature/distortion_corrector_params

aip_x2_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

aip_x2_launch/launch/pandar_node_container.launch.py

@@ -209,11 +209,9 @@ 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):
-        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
     ring_outlier_filter_component = ComposableNode(
         package="autoware_pointcloud_preprocessor",
         plugin="autoware::pointcloud_preprocessor::RingOutlierFilterComponent",
@@ -222,7 +220,10 @@ def create_parameter_dict(*args):
             ("input", "rectified/pointcloud_ex"),
             ("output", "pointcloud_before_sync"),
         ],
-        parameters=[ring_outlier_filter_parameters],
+        parameters=[
+            load_composable_node_param("ring_outlier_filter_node_param_file"),
+            ring_outlier_output_frame,
+        ],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )
 
@@ -342,7 +343,11 @@ def add_launch_arg(name: str, default_value=None):
     add_launch_arg("horizontal_resolution", "0.4")
     add_launch_arg(
         "blockage_diagnostics_param_file",
-        [FindPackageShare("aip_x2_launch"), "/config/blockage_diagnostics_param_file.yaml"],
+        [FindPackageShare("aip_x2_launch"), "/config/blockage_diagnostics.param.yaml"],
+    )
+    add_launch_arg(
+        "ring_outlier_filter_node_param_file",
+        [FindPackageShare("aip_x2_launch"), "/config/ring_outlier_filter_node.param.yaml"],
     )
     add_launch_arg(
         "distortion_corrector_node_param_file",

aip_xx1_gen2_description/urdf/sensors.xacro

@@ -16,24 +16,6 @@
     yaw="${calibration['base_link']['sensor_kit_base_link']['yaw']}"
   />
   <!-- embedded lidar sensors -->
-  <!-- <xacro:include filename="$(find velodyne_description)/urdf/VLP-16.urdf.xacro"/>
-  <xacro:VLP-16
-    parent="base_link"
-    name="velodyne_rear"
-    topic="velodyne_rear/velodyne_points"
-    hz="10"
-    samples="220"
-    gpu="false"
-  >
-    <origin
-      xyz="${calibration['base_link']['velodyne_rear_base_link']['x']}
-           ${calibration['base_link']['velodyne_rear_base_link']['y']}
-           ${calibration['base_link']['velodyne_rear_base_link']['z']}"
-      rpy="${calibration['base_link']['velodyne_rear_base_link']['roll']}
-           ${calibration['base_link']['velodyne_rear_base_link']['pitch']}
-           ${calibration['base_link']['velodyne_rear_base_link']['yaw']}"
-    />
-  </xacro:VLP-16> -->
   <xacro:include filename="$(find pandar_description)/urdf/pandar_xt32.xacro"/>
   <xacro:PandarXT-32
     name="hesai_front_left"

aip_xx1_gen2_launch/config/lidar_gen2.yaml

@@ -6,7 +6,7 @@ launches:
       sensor_frame: hesai_top
       sensor_ip: 192.168.1.201
       data_port: 2368
-      scan_phase: 160
+      scan_phase: 160.0
       vertical_bins: 128
   - sensor_type: hesai_XT32
     namespace: front_left

aip_xx1_gen2_launch/config/mosaic_x5_rover.param.yaml

@@ -0,0 +1,97 @@
+/**:
+  # cspell: ignore ntrip
+  # cspell: ignore gpsfix
+  # cspell: ignore gpgga
+  # cspell: ignore gprmc
+  # cspell: ignore gpst
+  # cspell: ignore measepoch
+  # cspell: ignore pvtcartesian
+  # cspell: ignore basevectorcart
+  # cspell: ignore basevectorgeod
+  # cspell: ignore poscovcartesian
+  # cspell: ignore velcovgeodetic
+  # cspell: ignore atteuler
+  # cspell: ignore attcoveuler
+  # cspell: ignore gpgsa
+  # cspell: ignore gpgsv
+  ros__parameters:
+    device: tcp://192.168.20.102:28784
+
+    frame_id: gnss_link
+    aux1_frame_id: aux1
+    get_spatial_config_from_tf: false
+    use_ros_axis_orientation: false
+    receiver_type: gnss
+    multi_antenna: false
+
+    datum: Default
+
+    att_offset:
+      heading: 0.0
+      pitch: 0.0
+
+    ant_type: Unknown
+    ant_serial_nr: Unknown
+    ant_aux1_type: Unknown
+    ant_aux1_serial_nr: Unknown
+
+    polling_period:
+      pvt: 200
+      rest: 200
+
+    use_gnss_time: false
+
+    rtk_settings:
+      ntrip_1:
+        id: ""
+        caster: ""
+        caster_port: 2101
+        username: ""
+        password: ""
+        mountpoint: ""
+        version: "v2"
+        tls: false
+        fingerprint: ""
+        rtk_standard: "auto"
+        send_gga: "auto"
+        keep_open: true
+      ip_server_1:
+        id: "IPS1"
+        port: 28785
+        rtk_standard: "RTCMv3"
+        send_gga: "auto"
+        keep_open: true
+      serial_1:
+        port: ""
+        baud_rate: 115200
+        rtk_standard: "auto"
+        send_gga: "auto"
+        keep_open: true
+
+    publish:
+      # For both GNSS and INS Rxs
+      navsatfix: true
+      gpsfix: false
+      gpgga: false
+      gprmc: false
+      gpst: false
+      measepoch: false
+      pvtcartesian: false
+      pvtgeodetic: true
+      basevectorcart: false
+      basevectorgeod: false
+      poscovcartesian: false
+      poscovgeodetic: true
+      velcovgeodetic: false
+      atteuler: false
+      attcoveuler: false
+      pose: false
+      twist: false
+      diagnostics: true
+      # For GNSS Rx only
+      gpgsa: false
+      gpgsv: false
+
+    # logger
+
+    activate_debug_log: false

aip_xx1_gen2_launch/launch/gnss.launch.xml

@@ -22,7 +22,12 @@
 
     <!-- Septentrio GNSS Driver -->
     <group if="$(eval &quot;'$(var launch_driver)' and '$(var gnss_receiver)'=='septentrio'&quot;)">
-      <include file="$(find-pkg-share septentrio_gnss_driver)/launch/mosaic_x5_rover.launch.xml" />
+      <node pkg="septentrio_gnss_driver" name="septentrio" exec="septentrio_gnss_driver_node" if="$(var launch_driver)">
+        <param from="$(find-pkg-share aip_xx1_gen2_launch)/config/mosaic_x5_rover.param.yaml"/>
+        <remap from="navsatfix" to="~/nav_sat_fix"/>
+        <remap from="poscovgeodetic" to="~/poscovgeodetic"/>
+        <remap from="pvtgeodetic" to="~/pvtgeodetic"/>
+      </node>
     </group>
 
     <!-- NavSatFix to MGRS Pose -->

aip_xx1_gen2_launch/launch/imu.launch.xml

@@ -36,7 +36,7 @@
 
     <!-- IMU Correction launch-->
     <arg name="imu_raw_name" default="tamagawa/imu_raw"/>
-    <arg name="imu_corrector_param_file" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_xx1/imu_corrector.param.yaml"/>
+    <arg name="imu_corrector_param_file" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_xx1_gen2/imu_corrector.param.yaml"/>
     <include file="$(find-pkg-share autoware_imu_corrector)/launch/imu_corrector.launch.xml">
       <arg name="input_topic" value="$(var imu_raw_name)"/>
       <arg name="output_topic" value="imu_data"/>

aip_xx1_gen2_launch/launch/lidar.launch.py

@@ -1,4 +1,4 @@
-# Copyright 2024 Tier IV, Inc. All rights reserved.
+# Copyright 2024 TIER IV, Inc. All rights reserved.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -92,11 +92,12 @@ def load_yaml(yaml_file_path):
     path_dictionary = generate_launch_dictionary()
 
     base_parameters = {}
-    base_parameters["host_ip"] = LaunchConfiguration("host_ip")
+    base_parameters["host_ip"] = LaunchConfiguration("host_ip").perform(context)
     base_parameters["vehicle_mirror_param_file"] = LaunchConfiguration(
         "vehicle_mirror_param_file"
     ).perform(context)
     base_parameters["launch_driver"] = LaunchConfiguration("launch_driver").perform(context)
+    base_parameters["launch_hw_monitor"] = LaunchConfiguration("launch_hw_monitor").perform(context)
     base_parameters["vehicle_id"] = LaunchConfiguration("vehicle_id").perform(context)
     base_parameters["pointcloud_container_name"] = LaunchConfiguration(
         "pointcloud_container_name"
@@ -159,7 +160,7 @@ def generate_launch_description():
     config_file_arg = DeclareLaunchArgument(
         "config_file",
         default_value=os.path.join(
-            get_package_share_directory("aip_xx1_gen2_launch"), "config", "lidar_launch.yaml"
+            get_package_share_directory("aip_xx1_gen2_launch"), "config", "lidar_gen2.yaml"
         ),
         description="Path to the configuration file",
     )
@@ -169,6 +170,7 @@ def add_launch_arg(name: str, default_value=None, **kwargs):
         launch_arguments.append(DeclareLaunchArgument(name, default_value=default_value, **kwargs))
 
     add_launch_arg("launch_driver", "true")
+    add_launch_arg("launch_hw_monitor", "true", description="launch hardware monitor")
     add_launch_arg("host_ip", "192.168.1.10")
     add_launch_arg("use_concat_filter", "true")
     add_launch_arg(