added launch and config file for using point_cloud_fusion_node + point_type_adapter

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', # rclcpp_components
+        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>