added launch and config file for using point_cloud_fusion_node + poin…

…t_type_adapter (#21)

# PR Details
## Description
This PR adds a new launch and config file for launching the
[point_type_adapter](https://github.com/usdot-fhwa-stol/autoware.auto/tree/develop/AutowareAuto/src/tools/point_type_adapter)
and
[point_cloud_fusion_node](https://github.com/usdot-fhwa-stol/autoware.auto/tree/develop/AutowareAuto/src/perception/filters/point_cloud_fusion_nodes),
Autoware.Auto's ROS2 version of the
[points_concat_filter](https://github.com/usdot-fhwa-stol/autoware.ai/tree/carma-develop/core_perception/points_preprocessor/nodes/points_concat_filter)
package in Autoware.AI. This is configured to fuse the point clouds from
the two LiDAR sensors onboard the CARMA freight trucks.

Related PRs:
- [usdotfhwastol/carma-config
#330](usdot-fhwa-stol/carma-config#330)
- [usdotfhwastol/carma-velodyne-lidar-driver
#111](usdot-fhwa-stol/carma-velodyne-lidar-driver#111)

## Related Jira Key
[CAR-5961](https://usdot-carma.atlassian.net/browse/CAR-5961)

## Motivation and Context
Currently, freightliner trucks equipped with CARMA Platform have two
velodyne lidars (compared to the single velodyne lidar on our passenger
vehicles equipped with CARMA Platform), and the autoware.ai
‘[points_concat_filter](https://github.com/usdot-fhwa-stol/autoware.ai/tree/carma-develop/core_perception/points_preprocessor/nodes/points_concat_filter)’
node (a ROS 1 Noetic node) is used to concatenate these two point clouds
into a single point cloud to be used by the rest of the system. As part
of the overall migration from ROS 1 Noetic to ROS 2 Foxy for CARMA
Platform, the system should leverage the ROS 2 Foxy version of this node
made available in Autoware.Auto.

## How Has This Been Tested?

This was tested by launching CARMA Platform on the freight truck and
verifying that `point_cloud_fusion_nodes` fused the scans from the two
velodyne sensors and published the result with the correct topic name
and frame id.

## Types of changes


- [ ] Defect fix (non-breaking change that fixes an issue)
- [x] New feature (non-breaking change that adds functionality)
- [ ] Breaking change (fix or feature that cause existing functionality
to change)

## Checklist:

- [ ] I have added any new packages to the sonar-scanner.properties file
- [ ] My change requires a change to the documentation.
- [ ] I have updated the documentation accordingly.
- [x] I have read the
[**CONTRIBUTING**](https://github.com/usdot-fhwa-stol/carma-platform/blob/develop/Contributing.md)
document.
- [ ] I have added tests to cover my changes.
- [ ] All new and existing tests passed.


[CAR-5961]:
https://usdot-carma.atlassian.net/browse/CAR-5961?atlOrigin=eyJpIjoiNWRkNTljNzYxNjVmNDY3MDlhMDU5Y2ZhYzA5YTRkZjUiLCJwIjoiZ2l0aHViLWNvbS1KU1cifQ

AutowareAuto/src/perception/filters/point_cloud_fusion/package.xml

@@ -13,6 +13,7 @@
     <depend>lidar_utils</depend>
 
     <build_depend>autoware_auto_common</build_depend>
+    <build_depend>carma_cmake_common</build_depend>
 
     <test_depend>ament_cmake_gtest</test_depend>
     <test_depend>ament_lint_auto</test_depend>
@@ -21,5 +22,4 @@
     <export>
         <build_type>ament_cmake</build_type>
     </export>
-    <build_depend>carma_cmake_common</build_depend>
 </package>

AutowareAuto/src/perception/filters/point_cloud_fusion_nodes/launch/point_cloud_fusion.launch.py

@@ -0,0 +1,84 @@
+# Copyright (C) 2024 LEIDOS.
+#
+# Licensed under the Apache License, Version 2.0 (the 'License'); you may not
+# use this file except in compliance with the License. You may obtain a copy of
+# the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an 'AS IS' BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+# License for the specific language governing permissions and limitations under
+# the License.
+
+# This file is intended to launch point_cloud_fusion_nodes on CARMA freightliner trucks
+# consisting of two Velodyne LiDARs
+
+import launch
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.descriptions import ComposableNode
+from launch.substitutions import EnvironmentVariable
+from carma_ros2_utils.launch.get_current_namespace import GetCurrentNamespace
+from carma_ros2_utils.launch.get_log_level import GetLogLevel
+from ament_index_python import get_package_share_directory
+
+import os
+
+env_log_levels = EnvironmentVariable('CARMA_ROS_LOGGING_CONFIG', default_value='{ "default_level" : "WARN" }')
+
+point_cloud_fusion_node_pkg_prefix = get_package_share_directory('point_cloud_fusion_nodes')
+point_cloud_fusion_node_param_file = os.path.join(point_cloud_fusion_node_pkg_prefix,
+                                                  'param/point_cloud_fusion.param.yaml')
+
+
+def generate_launch_description():
+
+    point_cloud_fusion_container = ComposableNodeContainer(
+        package='carma_ros2_utils',
+        name='point_cloud_fusion_container',
+        executable='carma_component_container_mt',
+        namespace=GetCurrentNamespace(),
+        composable_node_descriptions=[
+            ComposableNode(
+                package='point_cloud_fusion_nodes',
+                plugin='autoware::perception::filters::point_cloud_fusion_nodes::PointCloudFusionNode',
+                name='point_cloud_fusion_node',
+                parameters=[point_cloud_fusion_node_param_file],
+                extra_arguments=[
+                    {'use_intra_process_comms': True},
+                    {'--log-level' : GetLogLevel('point_cloud_fusion_nodes', env_log_levels) },
+                ],
+                remappings=[
+                    ('output_topic', 'lidar/points_raw'),
+                    ('input_topic1', 'velodyne_1/lidar/points_xyzi'),
+                    ('input_topic2', 'velodyne_2/lidar/points_xyzi'),
+
+                ]
+            ),
+            ComposableNode(
+                package='point_type_adapter',
+                plugin='autoware::tools::point_type_adapter::PointTypeAdapterNode',
+                name='velodyne_1_point_type_adapter_node',
+                extra_arguments=[
+                    {'use_intra_process_comms': True},
+                    {'--log-level' : GetLogLevel('point_type_adapter', env_log_levels) },
+                ],
+                remappings=[('points_raw', 'velodyne_1/lidar/points_raw'),
+                            ('points_xyzi', 'velodyne_1/lidar/points_xyzi')]
+            ),
+            ComposableNode(
+                package='point_type_adapter',
+                plugin='autoware::tools::point_type_adapter::PointTypeAdapterNode',
+                name='velodyne_2_point_type_adapter_node',
+                extra_arguments=[
+                    {'use_intra_process_comms': True},
+                    {'--log-level' : GetLogLevel('point_type_adapter', env_log_levels) },
+                ],
+                remappings=[('points_raw', 'velodyne_2/lidar/points_raw'),
+                            ('points_xyzi', 'velodyne_2/lidar/points_xyzi')],
+            )
+        ]
+    )
+
+    return launch.LaunchDescription([point_cloud_fusion_container])

AutowareAuto/src/perception/filters/point_cloud_fusion_nodes/package.xml

@@ -19,9 +19,12 @@
     <depend>tf2_ros</depend>
     <depend>tf2_geometry_msgs</depend>
     <depend>tf2_sensor_msgs</depend>
+    <depend>carma_ros2_utils</depend>
+    <depend>point_type_adapter</depend>
 
     <build_depend>eigen</build_depend>
     <build_depend>autoware_auto_common</build_depend>
+    <build_depend>carma_cmake_common</build_depend>
 
     <build_export_depend>eigen</build_export_depend>
 
@@ -36,5 +39,5 @@
     <export>
         <build_type>ament_cmake</build_type>
     </export>
-    <build_depend>carma_cmake_common</build_depend>
+
 </package>

AutowareAuto/src/perception/filters/point_cloud_fusion_nodes/param/point_cloud_fusion.param.yaml

@@ -0,0 +1,3 @@
+number_of_sources: 2
+output_frame_id:  "concat_velodyne"
+cloud_size:       80000

AutowareAuto/src/tools/point_type_adapter/package.xml

@@ -15,6 +15,7 @@
   <depend>sensor_msgs</depend>
   <depend>autoware_auto_common</depend>
   <depend>point_cloud_msg_wrapper</depend>
+  <depend>carma_ros2_utils</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>