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refactor!: pointcloud_preprocessor prefix package and namespace with autoware #257

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merged 2 commits into from
Jul 22, 2024
Merged

refactor!: pointcloud_preprocessor prefix package and namespace with autoware #257

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8a642d0
refactor!: pointcloud_preprocessor prefix package and namespace with …
amadeuszsz Jul 11, 2024
84d0955
ci(pre-commit): autofix
pre-commit-ci[bot] Jul 11, 2024
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4 changes: 2 additions & 2 deletions aip_x1_launch/launch/new_livox_horizon.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -47,8 +47,8 @@ def get_livox_tag_filter_component():
def get_crop_box_min_range_component(context, livox_frame_id):
use_tag_filter = IfCondition(LaunchConfiguration("use_tag_filter")).evaluate(context)
crop_box_min_range_component = ComposableNode(
package="pointcloud_preprocessor",
plugin="pointcloud_preprocessor::CropBoxFilterComponent",
package="autoware_pointcloud_preprocessor",
plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent",
name="crop_box_filter_min_range",
remappings=[
("input", "livox/tag_filtered/lidar" if use_tag_filter else "livox/lidar"),
Expand Down
4 changes: 2 additions & 2 deletions aip_x1_launch/launch/pointcloud_preprocessor.launch.py
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Expand Up @@ -26,8 +26,8 @@
def launch_setup(context, *args, **kwargs):
# set concat filter as a component
concat_component = ComposableNode(
package="pointcloud_preprocessor",
plugin="pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
package="autoware_pointcloud_preprocessor",
plugin="autoware::pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
name="concatenate_data",
remappings=[
("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
Expand Down
12 changes: 6 additions & 6 deletions aip_x1_launch/launch/velodyne_node_container.launch.py
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Expand Up @@ -94,8 +94,8 @@

nodes.append(
ComposableNode(
package="pointcloud_preprocessor",
plugin="pointcloud_preprocessor::CropBoxFilterComponent",
package="autoware_pointcloud_preprocessor",
plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent",
name="crop_box_filter_self",
remappings=[
("input", "pointcloud_raw_ex"),
Expand All @@ -108,8 +108,8 @@

nodes.append(
ComposableNode(
package="pointcloud_preprocessor",
plugin="pointcloud_preprocessor::DistortionCorrectorComponent",
package="autoware_pointcloud_preprocessor",
plugin="autoware::pointcloud_preprocessor::DistortionCorrectorComponent",
name="distortion_corrector_node",
remappings=[
("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
Expand All @@ -130,8 +130,8 @@
} # keep the output frame as the input frame
nodes.append(
ComposableNode(
package="pointcloud_preprocessor",
plugin="pointcloud_preprocessor::RingOutlierFilterComponent",
package="autoware_pointcloud_preprocessor",
plugin="autoware::pointcloud_preprocessor::RingOutlierFilterComponent",
name="ring_outlier_filter",
remappings=[
("input", "rectified/pointcloud_ex"),
Expand Down Expand Up @@ -225,7 +225,7 @@
"vehicle_mirror_param_file", description="path to the file of vehicle mirror position yaml"
)
add_launch_arg("use_multithread", "False", "use multithread")
add_launch_arg("use_intra_process", "False", "use ROS2 component container communication")

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add_launch_arg("output_as_sensor_frame", "True", "output final pointcloud in sensor frame")

set_container_executable = SetLaunchConfiguration(
Expand Down
2 changes: 1 addition & 1 deletion aip_x1_launch/package.xml
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Expand Up @@ -10,10 +10,10 @@

<buildtool_depend>ament_cmake_auto</buildtool_depend>

<exec_depend>autoware_pointcloud_preprocessor</exec_depend>
<exec_depend>compare_map_segmentation</exec_depend>
<exec_depend>gnss_poser</exec_depend>
<exec_depend>imu_corrector</exec_depend>
<exec_depend>pointcloud_preprocessor</exec_depend>
<exec_depend>tamagawa_imu_driver</exec_depend>
<exec_depend>topic_tools</exec_depend>
<exec_depend>ublox_gps</exec_depend>
Expand Down
28 changes: 14 additions & 14 deletions aip_x2_launch/launch/pandar_node_container.launch.py
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Expand Up @@ -136,8 +136,8 @@ def create_parameter_dict(*args):
cropbox_parameters["max_z"] = vehicle_info["max_height_offset"]

self_crop_component = ComposableNode(
package="pointcloud_preprocessor",
plugin="pointcloud_preprocessor::CropBoxFilterComponent",
package="autoware_pointcloud_preprocessor",
plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent",
name="crop_box_filter_self",
remappings=[
("input", "pointcloud_raw_ex"),
Expand All @@ -159,8 +159,8 @@ def create_parameter_dict(*args):
)

right_mirror_crop_component = ComposableNode(
package="pointcloud_preprocessor",
plugin="pointcloud_preprocessor::CropBoxFilterComponent",
package="autoware_pointcloud_preprocessor",
plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent",
name="crop_box_filter_mirror_right",
remappings=[
("input", "self_cropped/pointcloud_ex"),
Expand All @@ -181,8 +181,8 @@ def create_parameter_dict(*args):
)

left_mirror_crop_component = ComposableNode(
package="pointcloud_preprocessor",
plugin="pointcloud_preprocessor::CropBoxFilterComponent",
package="autoware_pointcloud_preprocessor",
plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent",
name="crop_box_filter_mirror_left",
remappings=[
("input", "right_mirror_cropped/pointcloud_ex"),
Expand All @@ -193,8 +193,8 @@ def create_parameter_dict(*args):
)

undistort_component = ComposableNode(
package="pointcloud_preprocessor",
plugin="pointcloud_preprocessor::DistortionCorrectorComponent",
package="autoware_pointcloud_preprocessor",
plugin="autoware::pointcloud_preprocessor::DistortionCorrectorComponent",
name="distortion_corrector_node",
remappings=[
("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
Expand All @@ -214,8 +214,8 @@ def create_parameter_dict(*args):
"output_frame": ""
} # keep the output frame as the input frame
ring_outlier_filter_component = ComposableNode(
package="pointcloud_preprocessor",
plugin="pointcloud_preprocessor::RingOutlierFilterComponent",
package="autoware_pointcloud_preprocessor",
plugin="autoware::pointcloud_preprocessor::RingOutlierFilterComponent",
name="ring_outlier_filter",
remappings=[
("input", "rectified/pointcloud_ex"),
Expand All @@ -226,8 +226,8 @@ def create_parameter_dict(*args):
)

dual_return_filter_component = ComposableNode(
package="pointcloud_preprocessor",
plugin="pointcloud_preprocessor::DualReturnOutlierFilterComponent",
package="autoware_pointcloud_preprocessor",
plugin="autoware::pointcloud_preprocessor::DualReturnOutlierFilterComponent",
name="dual_return_filter",
remappings=[
("input", "rectified/pointcloud_ex"),
Expand All @@ -246,8 +246,8 @@ def create_parameter_dict(*args):

distance_range = str2vector(context.perform_substitution(LaunchConfiguration("distance_range")))
blockage_diag_component = ComposableNode(
package="pointcloud_preprocessor",
plugin="pointcloud_preprocessor::BlockageDiagComponent",
package="autoware_pointcloud_preprocessor",
plugin="autoware::pointcloud_preprocessor::BlockageDiagComponent",
name="blockage_return_diag",
remappings=[
("input", "pointcloud_raw_ex"),
Expand Down
4 changes: 2 additions & 2 deletions aip_x2_launch/launch/pointcloud_preprocessor.launch.py
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Expand Up @@ -27,8 +27,8 @@
def launch_setup(context, *args, **kwargs):
# set concat filter as a component
concat_component = ComposableNode(
package="pointcloud_preprocessor",
plugin="pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
package="autoware_pointcloud_preprocessor",
plugin="autoware::pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
name="concatenate_data",
remappings=[
("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
Expand Down
2 changes: 1 addition & 1 deletion aip_x2_launch/package.xml
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Expand Up @@ -10,11 +10,11 @@

<buildtool_depend>ament_cmake_auto</buildtool_depend>

<exec_depend>autoware_pointcloud_preprocessor</exec_depend>
<exec_depend>common_sensor_launch</exec_depend>
<exec_depend>dummy_diag_publisher</exec_depend>
<exec_depend>gnss_poser</exec_depend>
<exec_depend>imu_corrector</exec_depend>
<exec_depend>pointcloud_preprocessor</exec_depend>
<exec_depend>septentrio_gnss_driver</exec_depend>
<exec_depend>tamagawa_imu_driver</exec_depend>
<exec_depend>topic_tools</exec_depend>
Expand Down
4 changes: 2 additions & 2 deletions aip_xx1_gen2_launch/launch/pointcloud_preprocessor.launch.py
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Expand Up @@ -27,8 +27,8 @@
def launch_setup(context, *args, **kwargs):
# set concat filter as a component
concat_component = ComposableNode(
package="pointcloud_preprocessor",
plugin="pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
package="autoware_pointcloud_preprocessor",
plugin="autoware::pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
name="concatenate_data",
remappings=[
("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
Expand Down
2 changes: 1 addition & 1 deletion aip_xx1_gen2_launch/package.xml
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Expand Up @@ -10,12 +10,12 @@

<buildtool_depend>ament_cmake_auto</buildtool_depend>

<exec_depend>autoware_pointcloud_preprocessor</exec_depend>
<exec_depend>common_sensor_launch</exec_depend>
<exec_depend>glog_component</exec_depend>
<exec_depend>gnss_poser</exec_depend>
<exec_depend>imu_corrector</exec_depend>
<exec_depend>pacmod3</exec_depend>
<exec_depend>pointcloud_preprocessor</exec_depend>
<exec_depend>ros2_socketcan</exec_depend>
<exec_depend>tamagawa_imu_driver</exec_depend>
<exec_depend>topic_tools</exec_depend>
Expand Down
4 changes: 2 additions & 2 deletions aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
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Expand Up @@ -27,8 +27,8 @@
def launch_setup(context, *args, **kwargs):
# set concat filter as a component
concat_component = ComposableNode(
package="pointcloud_preprocessor",
plugin="pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
package="autoware_pointcloud_preprocessor",
plugin="autoware::pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
name="concatenate_data",
remappings=[
("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
Expand Down
2 changes: 1 addition & 1 deletion aip_xx1_launch/package.xml
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Expand Up @@ -10,12 +10,12 @@

<buildtool_depend>ament_cmake_auto</buildtool_depend>

<exec_depend>autoware_pointcloud_preprocessor</exec_depend>
<exec_depend>common_sensor_launch</exec_depend>
<exec_depend>glog_component</exec_depend>
<exec_depend>gnss_poser</exec_depend>
<exec_depend>imu_corrector</exec_depend>
<exec_depend>pacmod3</exec_depend>
<exec_depend>pointcloud_preprocessor</exec_depend>
<exec_depend>ros2_socketcan</exec_depend>
<exec_depend>tamagawa_imu_driver</exec_depend>
<exec_depend>topic_tools</exec_depend>
Expand Down
4 changes: 2 additions & 2 deletions common_sensor_launch/launch/livox_horizon.launch.py
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Expand Up @@ -67,8 +67,8 @@ def get_livox_tag_filter_component(ns):
def get_crop_box_min_range_component(ns, context):
use_tag_filter = IfCondition(LaunchConfiguration("use_tag_filter")).evaluate(context)
crop_box_min_range_component = ComposableNode(
package="pointcloud_preprocessor",
plugin="pointcloud_preprocessor::CropBoxFilterComponent",
package="autoware_pointcloud_preprocessor",
plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent",
name=ns + "_crop_box_filter_min_range",
remappings=[
("input", ns + "/livox/tag_filtered/lidar" if use_tag_filter else ns + "/livox/lidar"),
Expand Down
20 changes: 10 additions & 10 deletions common_sensor_launch/launch/nebula_node_container.launch.py
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Expand Up @@ -171,8 +171,8 @@ def create_parameter_dict(*args):

nodes.append(
ComposableNode(
package="pointcloud_preprocessor",
plugin="pointcloud_preprocessor::CropBoxFilterComponent",
package="autoware_pointcloud_preprocessor",
plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent",
name="crop_box_filter_self",
remappings=[
("input", "pointcloud_raw_ex"),
Expand All @@ -193,8 +193,8 @@ def create_parameter_dict(*args):

nodes.append(
ComposableNode(
package="pointcloud_preprocessor",
plugin="pointcloud_preprocessor::CropBoxFilterComponent",
package="autoware_pointcloud_preprocessor",
plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent",
name="crop_box_filter_mirror",
remappings=[
("input", "self_cropped/pointcloud_ex"),
Expand All @@ -207,8 +207,8 @@ def create_parameter_dict(*args):

nodes.append(
ComposableNode(
package="pointcloud_preprocessor",
plugin="pointcloud_preprocessor::DistortionCorrectorComponent",
package="autoware_pointcloud_preprocessor",
plugin="autoware::pointcloud_preprocessor::DistortionCorrectorComponent",
name="distortion_corrector_node",
remappings=[
("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
Expand All @@ -230,8 +230,8 @@ def create_parameter_dict(*args):
} # keep the output frame as the input frame
nodes.append(
ComposableNode(
package="pointcloud_preprocessor",
plugin="pointcloud_preprocessor::RingOutlierFilterComponent",
package="autoware_pointcloud_preprocessor",
plugin="autoware::pointcloud_preprocessor::RingOutlierFilterComponent",
name="ring_outlier_filter",
remappings=[
("input", "rectified/pointcloud_ex"),
Expand Down Expand Up @@ -286,8 +286,8 @@ def create_parameter_dict(*args):
)

blockage_diag_component = ComposableNode(
package="pointcloud_preprocessor",
plugin="pointcloud_preprocessor::BlockageDiagComponent",
package="autoware_pointcloud_preprocessor",
plugin="autoware::pointcloud_preprocessor::BlockageDiagComponent",
name="blockage_diag",
remappings=[
("input", "pointcloud_raw_ex"),
Expand Down
4 changes: 2 additions & 2 deletions common_sensor_launch/launch/new_livox_horizon.launch.py
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Expand Up @@ -47,8 +47,8 @@ def get_livox_tag_filter_component():
def get_crop_box_min_range_component(context, livox_frame_id):
use_tag_filter = IfCondition(LaunchConfiguration("use_tag_filter")).evaluate(context)
crop_box_min_range_component = ComposableNode(
package="pointcloud_preprocessor",
plugin="pointcloud_preprocessor::CropBoxFilterComponent",
package="autoware_pointcloud_preprocessor",
plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent",
name="crop_box_filter_min_range",
remappings=[
("input", "livox/tag_filtered/lidar" if use_tag_filter else "livox/lidar"),
Expand Down
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