From fe3c6178eeece91ce598586ac047e80f066a151d Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Tue, 25 Jun 2024 13:02:02 +0900 Subject: [PATCH 1/4] Update nebula_node_container.launch.py --- aip_x2_launch/launch/nebula_node_container.launch.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/aip_x2_launch/launch/nebula_node_container.launch.py b/aip_x2_launch/launch/nebula_node_container.launch.py index 4fb9361b..f5c8561e 100644 --- a/aip_x2_launch/launch/nebula_node_container.launch.py +++ b/aip_x2_launch/launch/nebula_node_container.launch.py @@ -176,7 +176,7 @@ def str2vector(string): "scan_phase", "dual_return_distance_threshold", ), - "launch_hw": True + "launch_hw": True, }, ], remappings=[ From b295ad7783b04c6e82a8a067a1907647cc80aace Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Tue, 25 Jun 2024 04:02:30 +0000 Subject: [PATCH 2/4] ci(pre-commit): autofix --- aip_x2_launch/launch/nebula_node_container.launch.py | 5 +++-- .../launch/pointcloud_preprocessor.launch.py | 7 +++---- aip_x2_launch/launch/radar.launch.xml | 8 ++++---- .../launch/nebula_node_container.launch.py | 11 ++++++++--- 4 files changed, 18 insertions(+), 13 deletions(-) diff --git a/aip_x2_launch/launch/nebula_node_container.launch.py b/aip_x2_launch/launch/nebula_node_container.launch.py index f5c8561e..14ec9b17 100644 --- a/aip_x2_launch/launch/nebula_node_container.launch.py +++ b/aip_x2_launch/launch/nebula_node_container.launch.py @@ -118,7 +118,9 @@ def str2vector(string): "cloud_min_angle": LaunchConfiguration("cloud_min_angle"), "cloud_max_angle": LaunchConfiguration("cloud_max_angle"), "diag_span": LaunchConfiguration("diag_span"), - "dual_return_distance_threshold": LaunchConfiguration("dual_return_distance_threshold"), + "dual_return_distance_threshold": LaunchConfiguration( + "dual_return_distance_threshold" + ), "delay_monitor_ms": LaunchConfiguration("delay_monitor_ms"), }, ], @@ -512,7 +514,6 @@ def add_launch_arg(name: str, default_value=None, description=None): add_launch_arg("dual_return_filter_param_file") - set_container_executable = SetLaunchConfiguration( "container_executable", "component_container", diff --git a/aip_x2_launch/launch/pointcloud_preprocessor.launch.py b/aip_x2_launch/launch/pointcloud_preprocessor.launch.py index 3b9df574..a1aa1970 100644 --- a/aip_x2_launch/launch/pointcloud_preprocessor.launch.py +++ b/aip_x2_launch/launch/pointcloud_preprocessor.launch.py @@ -20,7 +20,8 @@ from launch.conditions import IfCondition from launch.conditions import UnlessCondition from launch.substitutions import LaunchConfiguration -from launch_ros.actions import LoadComposableNodes, ComposableNodeContainer +from launch_ros.actions import ComposableNodeContainer +from launch_ros.actions import LoadComposableNodes from launch_ros.descriptions import ComposableNode @@ -46,9 +47,7 @@ def launch_setup(context, *args, **kwargs): "/sensing/lidar/rear_upper/pointcloud", "/sensing/lidar/rear_lower/pointcloud", ], - "input_offset": [ - 0.005, 0.025, 0.050, 0.005, - 0.050, 0.005, 0.005, 0.025], + "input_offset": [0.005, 0.025, 0.050, 0.005, 0.050, 0.005, 0.005, 0.025], "timeout_sec": 0.075, "output_frame": LaunchConfiguration("base_frame"), "input_twist_topic_type": "twist", diff --git a/aip_x2_launch/launch/radar.launch.xml b/aip_x2_launch/launch/radar.launch.xml index 5093a87b..a515a3e3 100644 --- a/aip_x2_launch/launch/radar.launch.xml +++ b/aip_x2_launch/launch/radar.launch.xml @@ -128,7 +128,7 @@ - + @@ -159,7 +159,7 @@ - + @@ -204,10 +204,10 @@ - + - \ No newline at end of file + diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py index 27a7692b..2d06deae 100644 --- a/common_sensor_launch/launch/nebula_node_container.launch.py +++ b/common_sensor_launch/launch/nebula_node_container.launch.py @@ -114,7 +114,9 @@ def create_parameter_dict(*args): "cloud_min_angle": LaunchConfiguration("cloud_min_angle"), "cloud_max_angle": LaunchConfiguration("cloud_max_angle"), "diag_span": LaunchConfiguration("diag_span"), - "dual_return_distance_threshold": LaunchConfiguration("dual_return_distance_threshold"), + "dual_return_distance_threshold": LaunchConfiguration( + "dual_return_distance_threshold" + ), "delay_monitor_ms": LaunchConfiguration("delay_monitor_ms"), }, ], @@ -151,7 +153,7 @@ def create_parameter_dict(*args): "ptp_switch_type", "ptp_domain", ), - "launch_hw": True + "launch_hw": True, }, ], remappings=[ @@ -242,7 +244,10 @@ def create_parameter_dict(*args): plugin="pointcloud_preprocessor::RingOutlierFilterComponent", name="ring_outlier_filter", remappings=[ - ("input", "self_cropped/pointcloud_ex"), #todo: miura 24/03/03 temporarily input self_cropped/point + ( + "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")}], From e5a472865bb566c3d22b09384d0813c8cb49b4d4 Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Tue, 25 Jun 2024 13:03:53 +0900 Subject: [PATCH 3/4] Update radar.launch.xml --- aip_x2_launch/launch/radar.launch.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/aip_x2_launch/launch/radar.launch.xml b/aip_x2_launch/launch/radar.launch.xml index a515a3e3..acd1bd6e 100644 --- a/aip_x2_launch/launch/radar.launch.xml +++ b/aip_x2_launch/launch/radar.launch.xml @@ -1,3 +1,4 @@ + From 1c725b22369fbf2913a8800d4ebba549e688d14b Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Tue, 25 Jun 2024 04:53:40 +0000 Subject: [PATCH 4/4] ci(pre-commit): autofix --- aip_x2_launch/launch/nebula_node_container.launch.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/aip_x2_launch/launch/nebula_node_container.launch.py b/aip_x2_launch/launch/nebula_node_container.launch.py index ccef186b..54ba66d3 100644 --- a/aip_x2_launch/launch/nebula_node_container.launch.py +++ b/aip_x2_launch/launch/nebula_node_container.launch.py @@ -20,13 +20,13 @@ from launch.actions import OpaqueFunction from launch.actions import SetLaunchConfiguration from launch.conditions import IfCondition +from launch.conditions import LaunchConfigurationEquals +from launch.conditions import LaunchConfigurationNotEquals from launch.conditions import UnlessCondition from launch.substitutions import LaunchConfiguration 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