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chore(nebula_node_container): fix, confirm and re-enable ring_outlier_filter #316

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merged 2 commits into from
Sep 17, 2024
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chore(nebula_node_container): fix, confirm and re-enable ring_outlier_filter #316

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chore(nebula_node_container): confirm ring outlier filter is working …
mojomex Sep 17, 2024
6a357ff
ci(pre-commit): autofix
pre-commit-ci[bot] Sep 17, 2024
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35 changes: 18 additions & 17 deletions aip_x2_gen2_launch/launch/nebula_node_container.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,7 @@
# from launch.conditions import LaunchConfigurationNotEquals
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
Expand Down Expand Up @@ -221,22 +222,22 @@ def str2vector(string):
("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
("~/input/imu", "/sensing/imu/imu_data"),
("~/input/pointcloud", "mirror_cropped/pointcloud_ex"),
("~/output/pointcloud", "pointcloud"),
("~/output/pointcloud", "rectified/pointcloud_ex"),
],
parameters=[load_composable_node_param("distortion_corrector_node_param_file")],
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
)

# ring_outlier_filter_component = ComposableNode(
# package="pointcloud_preprocessor",
# plugin="pointcloud_preprocessor::RingOutlierFilterComponent",
# name="ring_outlier_filter",
# remappings=[
# ("input", "rectified/pointcloud_ex"),
# ("output", "pointcloud"),
# ],
# extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
# )
ring_outlier_filter_component = ComposableNode(
package="pointcloud_preprocessor",
plugin="pointcloud_preprocessor::RingOutlierFilterComponent",
name="ring_outlier_filter",
remappings=[
("input", "rectified/pointcloud_ex"),
("output", "pointcloud"),
],
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
)

dual_return_filter_component = ComposableNode(
package="pointcloud_preprocessor",
Expand Down Expand Up @@ -295,11 +296,11 @@ def str2vector(string):
],
)

# ring_outlier_filter_loader = LoadComposableNodes(
# composable_node_descriptions=[ring_outlier_filter_component],
# target_container=container,
# condition=LaunchConfigurationNotEquals("return_mode", "Dual"),
# )
ring_outlier_filter_loader = LoadComposableNodes(
composable_node_descriptions=[ring_outlier_filter_component],
target_container=container,
condition=LaunchConfigurationNotEquals("return_mode", "Dual"),
)

dual_return_filter_loader = LoadComposableNodes(
composable_node_descriptions=[dual_return_filter_component],
Expand All @@ -315,7 +316,7 @@ def str2vector(string):

return [
container,
# ring_outlier_filter_loader,
ring_outlier_filter_loader,
dual_return_filter_loader,
blockage_diag_loader,
]
Expand Down
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