From 9af729134148e616dd0c2b8e1d3a34c93ffebd67 Mon Sep 17 00:00:00 2001 From: Shintaro Sakoda <shintaro.sakoda@tier4.jp> Date: Fri, 25 Oct 2024 09:39:27 +0900 Subject: [PATCH] Removed common_awsim_sensor_launch Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> --- .../launch/lidar.launch.xml | 6 +-- common_awsim_sensor_launch/CMakeLists.txt | 15 ------- .../distortion_corrector_node.param.yaml | 6 --- .../ring_outlier_filter_node.param.yaml | 14 ------- .../launch/velodyne_VLP16.launch.xml | 39 ------------------- common_awsim_sensor_launch/package.xml | 22 ----------- 6 files changed, 3 insertions(+), 99 deletions(-) delete mode 100644 common_awsim_sensor_launch/CMakeLists.txt delete mode 100644 common_awsim_sensor_launch/config/distortion_corrector_node.param.yaml delete mode 100644 common_awsim_sensor_launch/config/ring_outlier_filter_node.param.yaml delete mode 100644 common_awsim_sensor_launch/launch/velodyne_VLP16.launch.xml delete mode 100644 common_awsim_sensor_launch/package.xml diff --git a/awsim_sensor_kit_launch/launch/lidar.launch.xml b/awsim_sensor_kit_launch/launch/lidar.launch.xml index 0ed6703..6dcb49a 100644 --- a/awsim_sensor_kit_launch/launch/lidar.launch.xml +++ b/awsim_sensor_kit_launch/launch/lidar.launch.xml @@ -11,7 +11,7 @@ <group> <push-ros-namespace namespace="top"/> - <include file="$(find-pkg-share common_awsim_sensor_launch)/launch/velodyne_VLP16.launch.xml"> + <include file="$(find-pkg-share common_sensor_launch)/launch/velodyne_VLP16.launch.xml"> <arg name="max_range" value="250.0"/> <arg name="sensor_frame" value="velodyne_top"/> <arg name="sensor_ip" value="127.0.0.1"/> @@ -26,7 +26,7 @@ <group> <push-ros-namespace namespace="left"/> - <include file="$(find-pkg-share common_awsim_sensor_launch)/launch/velodyne_VLP16.launch.xml"> + <include file="$(find-pkg-share common_sensor_launch)/launch/velodyne_VLP16.launch.xml"> <arg name="max_range" value="5.0"/> <arg name="sensor_frame" value="velodyne_left"/> <arg name="sensor_ip" value="127.0.0.1"/> @@ -43,7 +43,7 @@ <group> <push-ros-namespace namespace="right"/> - <include file="$(find-pkg-share common_awsim_sensor_launch)/launch/velodyne_VLP16.launch.xml"> + <include file="$(find-pkg-share common_sensor_launch)/launch/velodyne_VLP16.launch.xml"> <arg name="max_range" value="5.0"/> <arg name="sensor_frame" value="velodyne_right"/> <arg name="sensor_ip" value="127.0.0.1"/> diff --git a/common_awsim_sensor_launch/CMakeLists.txt b/common_awsim_sensor_launch/CMakeLists.txt deleted file mode 100644 index 8a9a6a0..0000000 --- a/common_awsim_sensor_launch/CMakeLists.txt +++ /dev/null @@ -1,15 +0,0 @@ -cmake_minimum_required(VERSION 3.5) -project(common_awsim_sensor_launch) - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - -ament_auto_package(INSTALL_TO_SHARE - config - launch -) diff --git a/common_awsim_sensor_launch/config/distortion_corrector_node.param.yaml b/common_awsim_sensor_launch/config/distortion_corrector_node.param.yaml deleted file mode 100644 index c558756..0000000 --- a/common_awsim_sensor_launch/config/distortion_corrector_node.param.yaml +++ /dev/null @@ -1,6 +0,0 @@ -/**: - ros__parameters: - base_frame: base_link - use_imu: true - use_3d_distortion_correction: false - update_azimuth_and_distance: false diff --git a/common_awsim_sensor_launch/config/ring_outlier_filter_node.param.yaml b/common_awsim_sensor_launch/config/ring_outlier_filter_node.param.yaml deleted file mode 100644 index 76bf689..0000000 --- a/common_awsim_sensor_launch/config/ring_outlier_filter_node.param.yaml +++ /dev/null @@ -1,14 +0,0 @@ -/**: - ros__parameters: - distance_ratio: 1.03 - object_length_threshold: 0.1 - num_points_threshold: 4 - max_rings_num: 128 - max_points_num_per_ring: 4000 - publish_outlier_pointcloud: false - min_azimuth_deg: 0.0 - max_azimuth_deg: 360.0 - max_distance: 12.0 - vertical_bins: 128 - horizontal_bins: 36 - noise_threshold: 2 diff --git a/common_awsim_sensor_launch/launch/velodyne_VLP16.launch.xml b/common_awsim_sensor_launch/launch/velodyne_VLP16.launch.xml deleted file mode 100644 index a304af0..0000000 --- a/common_awsim_sensor_launch/launch/velodyne_VLP16.launch.xml +++ /dev/null @@ -1,39 +0,0 @@ -<launch> - - <!-- Params --> - <arg name="launch_driver" default="true"/> - - <arg name="model" default="VLP16"/> - <arg name="max_range" default="130.0"/> - <arg name="min_range" default="0.4"/> - <arg name="sensor_frame" default="velodyne"/> - <arg name="return_mode" default="SingleStrongest"/> - <arg name="sensor_ip" default="192.168.1.201"/> - <arg name="host_ip" default="255.255.255.255"/> - <arg name="data_port" default="2368"/> - <arg name="scan_phase" default="0.0"/> - <arg name="cloud_min_angle" default="0"/> - <arg name="cloud_max_angle" default="360"/> - <arg name="vehicle_mirror_param_file"/> - <arg name="container_name" default="velodyne_node_container"/> - - <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py"> - <arg name="launch_driver" value="$(var launch_driver)"/> - <arg name="sensor_model" value="$(var model)"/> - <arg name="return_mode" value="$(var return_mode)"/> - <arg name="max_range" value="$(var max_range)"/> - <arg name="min_range" value="$(var min_range)"/> - <arg name="frame_id" value="$(var sensor_frame)"/> - <arg name="sensor_ip" value="$(var sensor_ip)"/> - <arg name="host_ip" value="$(var host_ip)"/> - <arg name="data_port" value="$(var data_port)"/> - <arg name="scan_phase" value="$(var scan_phase)"/> - <arg name="cloud_min_angle" value="$(var cloud_min_angle)"/> - <arg name="cloud_max_angle" value="$(var cloud_max_angle)"/> - <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/> - <arg name="use_intra_process" value="true"/> - <arg name="use_multithread" value="true"/> - <arg name="container_name" value="$(var container_name)"/> - </include> - -</launch> diff --git a/common_awsim_sensor_launch/package.xml b/common_awsim_sensor_launch/package.xml deleted file mode 100644 index 1d83e1d..0000000 --- a/common_awsim_sensor_launch/package.xml +++ /dev/null @@ -1,22 +0,0 @@ -<?xml version="1.0"?> -<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> -<package format="3"> - <name>common_awsim_sensor_launch</name> - <version>0.1.0</version> - <description>The common_sensor_launch package</description> - <maintainer email="piotr.jaroszek@robotec.ai">Piotr Jaroszek</maintainer> - <license>Apache License 2.0</license> - - <buildtool_depend>ament_cmake_auto</buildtool_depend> - - <exec_depend>velodyne_driver</exec_depend> - <exec_depend>velodyne_monitor</exec_depend> - <exec_depend>velodyne_pointcloud</exec_depend> - - <test_depend>ament_lint_auto</test_depend> - <test_depend>autoware_lint_common</test_depend> - - <export> - <build_type>ament_cmake</build_type> - </export> -</package>