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refactor(nebula_node_container)!: adapt to nebula single-node architecture #262

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refactor(nebula_node_container)!: adapt to nebula single-node architecture #262

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79c8538
refactor(nebula_node_container)!: adapt to nebula single-node archite…
mojomex Jul 18, 2024
f259000
ci(pre-commit): autofix
pre-commit-ci[bot] Jul 18, 2024
e5e9b06
Fix for bench
TomohitoAndo Jul 25, 2024
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143 changes: 47 additions & 96 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 @@ -13,6 +13,7 @@
# limitations under the License.

import os
from pathlib import Path

from ament_index_python.packages import get_package_share_directory
import launch
Expand All @@ -27,16 +28,17 @@
from launch_ros.actions import ComposableNodeContainer
from launch_ros.actions import LoadComposableNodes
from launch_ros.descriptions import ComposableNode
from launch_ros.parameter_descriptions import ParameterFile
from launch_ros.substitutions import FindPackageShare
import yaml


def get_lidar_make(sensor_name):
if sensor_name[:6].lower() == "pandar":
return "Hesai", ".csv"
elif sensor_name[:3].lower() in ["hdl", "vlp", "vls"]:
return "Velodyne", ".yaml"
return "unrecognized_sensor_model"
return "Hesai"
elif sensor_name[:3].lower() in ["vlp", "vls"]:
return "Velodyne"
raise ValueError("Unrecognized sensor model")


def get_vehicle_info(context):
Expand Down Expand Up @@ -80,111 +82,70 @@ def str2vector(string):

# Model and make
sensor_model = LaunchConfiguration("sensor_model").perform(context)
sensor_make, sensor_extension = get_lidar_make(sensor_model)
nebula_decoders_share_dir = get_package_share_directory("nebula_decoders")

# Calibration file
sensor_calib_fp = os.path.join(
nebula_decoders_share_dir,
"calibration",
sensor_make.lower(),
sensor_model + sensor_extension,
sensor_make = get_lidar_make(sensor_model)

# Configuration file containing sensor model's default parameters

sensor_config = LaunchConfiguration("config_file").perform(context)
if sensor_config == "":
sensor_config = (
Path(get_package_share_directory("nebula_ros"))
/ "config"
/ "lidar"
/ sensor_make.lower()
/ (sensor_model + ".param.yaml")
)
else:
sensor_config = Path(sensor_config)

assert sensor_config.exists(), "Sensor configuration not found: {}".format(
sensor_config.absolute().as_posix()
)
assert os.path.exists(
sensor_calib_fp
), "Sensor calib file under calibration/ was not found: {}".format(sensor_calib_fp)

glog_component = ComposableNode(
package="glog_component",
plugin="GlogComponent",
name="glog_component",
)

nebula_ros_hw_monitor_component = ComposableNode(
package="nebula_ros",
plugin=sensor_make + "HwMonitorRosWrapper",
name=sensor_make.lower() + "_hardware_monitor_ros_wrapper_node",
parameters=[
{
"sensor_model": LaunchConfiguration("sensor_model"),
"return_mode": LaunchConfiguration("return_mode"),
"frame_id": LaunchConfiguration("frame_id"),
"scan_phase": LaunchConfiguration("scan_phase"),
"sensor_ip": LaunchConfiguration("sensor_ip"),
"host_ip": LaunchConfiguration("host_ip"),
"data_port": LaunchConfiguration("data_port"),
"gnss_port": LaunchConfiguration("gnss_port"),
"packet_mtu_size": LaunchConfiguration("packet_mtu_size"),
"rotation_speed": LaunchConfiguration("rotation_speed"),
"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"
),
"delay_monitor_ms": LaunchConfiguration("delay_monitor_ms"),
},
],
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
)

nebula_ros_hw_interface_component = ComposableNode(
nebula_component = ComposableNode(
package="nebula_ros",
plugin=sensor_make + "HwInterfaceRosWrapper",
name=sensor_make.lower() + "_hw_interface_ros_wrapper_node",
plugin=sensor_make + "RosWrapper",
name=sensor_make.lower() + "_ros_wrapper_node",
parameters=[
ParameterFile(sensor_config, allow_substs=True),
{
"sensor_model": sensor_model,
"calibration_file": sensor_calib_fp,
"launch_hw": LaunchConfiguration("launch_driver"),
**create_parameter_dict(
"sensor_ip",
"host_ip",
"scan_phase",
"return_mode",
"frame_id",
"rotation_speed",
"sensor_ip",
"data_port",
"cloud_min_angle",
"cloud_max_angle",
"dual_return_distance_threshold",
"gnss_port",
"packet_mtu_size",
"setup_sensor",
"ptp_profile",
"ptp_transport_type",
"ptp_switch_type",
"ptp_domain",
),
},
],
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
)

nebula_ros_driver_component = ComposableNode(
package="nebula_ros",
plugin=sensor_make + "DriverRosWrapper",
name=sensor_make.lower() + "_driver_ros_wrapper_node",
parameters=[
{
"calibration_file": sensor_calib_fp,
"sensor_model": sensor_model,
**create_parameter_dict(
"host_ip",
"sensor_ip",
"data_port",
"return_mode",
"frame_id",
"diag_span",
"min_range",
"max_range",
"frame_id",
"cloud_min_angle",
"cloud_max_angle",
"scan_phase",
"rotation_speed",
"return_mode",
"ptp_profile",
"ptp_domain",
"ptp_transport_type",
"ptp_switch_type",
"dual_return_distance_threshold",
),
"launch_hw": True,
},
],
remappings=[
("aw_points", "pointcloud_raw"),
("aw_points_ex", "pointcloud_raw_ex"),
# cSpell:ignore knzo25
# TODO(knzo25): fix the remapping once nebula gets updated
("pandar_points", "pointcloud_raw_ex"),
],
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
)
Expand Down Expand Up @@ -332,23 +293,14 @@ def str2vector(string):
executable=LaunchConfiguration("container_executable"),
composable_node_descriptions=[
glog_component,
nebula_ros_driver_component,
nebula_component,
self_crop_component,
right_mirror_crop_component,
left_mirror_crop_component,
undistort_component,
],
)

driver_loader = LoadComposableNodes(
composable_node_descriptions=[
nebula_ros_hw_interface_component,
nebula_ros_hw_monitor_component,
],
target_container=container,
condition=launch.conditions.IfCondition(LaunchConfiguration("launch_driver")),
)

ring_outlier_filter_loader = LoadComposableNodes(
composable_node_descriptions=[ring_outlier_filter_component],
target_container=container,
Expand All @@ -369,7 +321,6 @@ def str2vector(string):

return [
container,
driver_loader,
ring_outlier_filter_loader,
dual_return_filter_loader,
blockage_diag_loader,
Expand All @@ -387,8 +338,8 @@ def add_launch_arg(name: str, default_value=None, description=None):

add_launch_arg("sensor_model", description="sensor model name")
add_launch_arg("config_file", "", description="sensor configuration file")
add_launch_arg("launch_driver", "True", "do launch driver")
add_launch_arg("setup_sensor", "True", "configure sensor")
add_launch_arg("launch_driver", "true", "do launch driver")
add_launch_arg("setup_sensor", "true", "configure sensor")
add_launch_arg("sensor_ip", "192.168.1.201", "device ip address")
add_launch_arg("host_ip", "255.255.255.255", "host ip address")
add_launch_arg("scan_phase", "0.0")
Expand All @@ -411,7 +362,7 @@ def add_launch_arg(name: str, default_value=None, description=None):

add_launch_arg(
"distortion_corrector_node_param_file",
[FindPackageShare("common_sensor_launch"), "/config/distortion_corrector_node.param.yaml"],
[FindPackageShare("pointcloud_preprocessor"), "/config/distortion_corrector_node.param.yaml"],
)

add_launch_arg("diag_span", "1000")
Expand Down
4 changes: 2 additions & 2 deletions aip_x2_launch/launch/sensing.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -25,9 +25,9 @@
</include> -->

<!-- Radar Driver -->
<include file="$(find-pkg-share aip_x2_launch)/launch/radar.launch.xml">
<!-- <include file="$(find-pkg-share aip_x2_launch)/launch/radar.launch.xml">
<arg name="launch_driver" value="$(var launch_driver)" />
</include>
</include> -->

<!-- Vehicle twist -->
<include file="$(find-pkg-share vehicle_velocity_converter)/launch/vehicle_velocity_converter.launch.xml">
Expand Down
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