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fix(aip_x2): fix pre-commit for x2-gen2-v3.0.0 #246

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merged 4 commits into from
Jun 25, 2024
Merged

fix(aip_x2): fix pre-commit for x2-gen2-v3.0.0 #246

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eb9663e
Update nebula_node_container.launch.py
h-ohta Jun 25, 2024
0276162
ci(pre-commit): autofix
pre-commit-ci[bot] Jun 25, 2024
e52fa96
Update radar.launch.xml
h-ohta Jun 25, 2024
c76c55a
fix pre-commit ci errors
TomohitoAndo Jun 25, 2024
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13 changes: 6 additions & 7 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 @@ -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


Expand Down Expand Up @@ -93,8 +93,6 @@ def str2vector(string):
sensor_calib_fp
), "Sensor calib file under calibration/ was not found: {}".format(sensor_calib_fp)

nodes = []

glog_component = ComposableNode(
package="glog_component",
plugin="GlogComponent",
Expand All @@ -120,7 +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"),
},
],
Expand Down Expand Up @@ -178,7 +178,7 @@ def str2vector(string):
"scan_phase",
"dual_return_distance_threshold",
),
"launch_hw": True
"launch_hw": True,
},
],
remappings=[
Expand Down Expand Up @@ -423,7 +423,6 @@ def add_launch_arg(name: str, default_value=None, description=None):
add_launch_arg("max_azimuth_deg", "225.0")
add_launch_arg("enable_blockage_diag", "true")


set_container_executable = SetLaunchConfiguration(
"container_executable",
"component_container",
Expand Down
8 changes: 3 additions & 5 deletions aip_x2_launch/launch/pointcloud_preprocessor.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,7 @@
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 LoadComposableNodes
from launch_ros.descriptions import ComposableNode


Expand All @@ -46,9 +46,7 @@ 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",
Expand All @@ -57,7 +55,7 @@ def launch_setup(context, *args, **kwargs):
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
)

concat_loader = loader = LoadComposableNodes(
concat_loader = LoadComposableNodes(
composable_node_descriptions=[concat_component],
target_container=LaunchConfiguration("pointcloud_container_name"),
)
Expand Down
9 changes: 5 additions & 4 deletions aip_x2_launch/launch/radar.launch.xml
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Original file line number Diff line number Diff line change
@@ -1,3 +1,4 @@
<!-- cSpell: ignore autosar -->
<launch>
<arg name="launch_driver" default="true" description="do launch driver"/>

Expand Down Expand Up @@ -128,7 +129,7 @@
<arg name="configuration_sensor_port" value="42101"/>

<arg name="new_plug_orientation" value="0"/>
</include>
</include>

<include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<arg name="input/radar_objects" value="objects_raw"/>
Expand Down Expand Up @@ -159,7 +160,7 @@
<arg name="configuration_sensor_port" value="42101"/>

<arg name="new_plug_orientation" value="0"/>
</include>
</include>

<include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<arg name="input/radar_objects" value="objects_raw"/>
Expand Down Expand Up @@ -204,10 +205,10 @@

<!-- merge radar objects -->
<let name="merger_param_path" value="$(find-pkg-share aip_x2_launch)/config/simple_object_merger.param.yaml"/>
<node pkg="simple_object_merger" exec="simple_object_merger_node" name="simple_object_merger" output="screen">
<node pkg="simple_object_merger" exec="simple_object_merger_node" name="simple_object_merger" output="screen">
<remap from="~/output/objects" to="detected_objects"/>
<param from="$(var merger_param_path)"/>
</node>

</group>
</launch>
</launch>
11 changes: 8 additions & 3 deletions common_sensor_launch/launch/nebula_node_container.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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"),
},
],
Expand Down Expand Up @@ -151,7 +153,7 @@ def create_parameter_dict(*args):
"ptp_switch_type",
"ptp_domain",
),
"launch_hw": True
"launch_hw": True,
},
],
remappings=[
Expand Down Expand Up @@ -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")}],
Expand Down
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