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feat/add OT128 and QT128 launch files #218

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feat/add OT128 and QT128 launch files #218

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b583709
Change ground filter height thresh (#199) (#42)
kosuke55 Nov 16, 2021
0e0c9ef
sync develop for main (#46)
kosuke55 Nov 30, 2021
cfa1c1b
Bump streetsidesoftware/cspell-action from 1.3.4 to v1 (#50)
dependabot[bot] Jan 10, 2022
45d703c
add launch files
miursh Mar 12, 2024
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2 changes: 1 addition & 1 deletion .github/workflows/spell_check_pr.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,6 @@ jobs:
--output .github/workflows/.cspell.json \
https://raw.githubusercontent.com/tier4/autoware-spell-check-dict/main/cspell/.cspell.json

- uses: streetsidesoftware/cspell-action@v1.3.4
- uses: streetsidesoftware/cspell-action@v1
with:
config: ".github/workflows/.cspell.json"
4 changes: 2 additions & 2 deletions aip_x1_launch/launch/pointcloud_preprocessor.launch.py
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Expand Up @@ -212,7 +212,7 @@ def launch_setup(context, *args, **kwargs):
"min_points": 400,
"min_inliers": 200,
"max_iterations": 50,
"height_threshold": 0.15,
"height_threshold": 0.18,
"plane_slope_threshold": 10.0,
"voxel_size_x": 0.2,
"voxel_size_y": 0.2,
Expand Down Expand Up @@ -254,7 +254,7 @@ def launch_setup(context, *args, **kwargs):
{
"map_frame": "map",
"map_layer_name": "elevation",
"height_diff_thresh": 0.15,
"height_diff_thresh": 0.18,
"input_frame": "map",
"output_frame": "base_link",
}
Expand Down
8 changes: 4 additions & 4 deletions aip_x2_launch/launch/lidar.launch.xml
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Expand Up @@ -17,7 +17,7 @@
<arg name="lidar_port" value="2321" />
<arg name="gps_port" value="10121" />
<arg name="scan_phase" value="0.0" />
<arg name="return_mode" value="Strongest" />
<arg name="return_mode" value="Dual" />
<arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/front_lower.csv" />
<arg name="launch_driver" value="$(var launch_driver)" />
<arg name="vehicle_param_file" value="$(var vehicle_param_file)" />
Expand Down Expand Up @@ -50,7 +50,7 @@
<arg name="lidar_port" value="2322" />
<arg name="gps_port" value="10122" />
<arg name="scan_phase" value="0.0" />
<arg name="return_mode" value="Strongest" />
<arg name="return_mode" value="Dual" />
<arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/left_upper.csv" />
<arg name="launch_driver" value="$(var launch_driver)" />
<arg name="vehicle_param_file" value="$(var vehicle_param_file)" />
Expand Down Expand Up @@ -84,7 +84,7 @@
<arg name="lidar_port" value="2323" />
<arg name="gps_port" value="10123" />
<arg name="scan_phase" value="0.0" />
<arg name="return_mode" value="Strongest" />
<arg name="return_mode" value="Dual" />
<arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/right_upper.csv" />
<arg name="launch_driver" value="$(var launch_driver)" />
<arg name="vehicle_param_file" value="$(var vehicle_param_file)" />
Expand Down Expand Up @@ -118,7 +118,7 @@
<arg name="lidar_port" value="2324" />
<arg name="gps_port" value="10124" />
<arg name="scan_phase" value="0.0" />
<arg name="return_mode" value="Strongest" />
<arg name="return_mode" value="Dual" />
<arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/rear_lower.csv" />
<arg name="launch_driver" value="$(var launch_driver)" />
<arg name="vehicle_param_file" value="$(var vehicle_param_file)" />
Expand Down
40 changes: 36 additions & 4 deletions aip_x2_launch/launch/pandar_node_container.launch.py
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Expand Up @@ -17,6 +17,8 @@
from launch.actions import OpaqueFunction
from launch.actions import SetLaunchConfiguration
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 @@ -86,8 +88,8 @@ def create_parameter_dict(*args):
cropbox_parameters["negative"] = True

vehicle_info = get_vehicle_info(context)
cropbox_parameters["min_x"] = vehicle_info["min_longitudinal_offset"]
cropbox_parameters["max_x"] = vehicle_info["max_longitudinal_offset"]
cropbox_parameters["min_x"] = vehicle_info["min_longitudinal_offset"] - 0.15
cropbox_parameters["max_x"] = vehicle_info["max_longitudinal_offset"] + 0.15
cropbox_parameters["min_y"] = vehicle_info["min_lateral_offset"]
cropbox_parameters["max_y"] = vehicle_info["max_lateral_offset"]
cropbox_parameters["min_z"] = vehicle_info["min_height_offset"]
Expand Down Expand Up @@ -173,6 +175,23 @@ def create_parameter_dict(*args):
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
)

dual_return_filter_component = ComposableNode(
package="pointcloud_preprocessor",
plugin="pointcloud_preprocessor::DualReturnOutlierFilterComponent",
name="dual_return_filter",
remappings=[
("input", "rectified/pointcloud_ex"),
("output", "outlier_filtered/pointcloud"),
],
parameters=[
{
"vertical_bins": LaunchConfiguration("vertical_bins"),
"visibility_threshold": LaunchConfiguration("visibility_threshold"),
}
],
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
)

container = ComposableNodeContainer(
name="pandar_node_container",
namespace="pointcloud_preprocessor",
Expand All @@ -184,7 +203,6 @@ def create_parameter_dict(*args):
right_mirror_crop_component,
left_mirror_crop_component,
undistort_component,
ring_outlier_filter_component,
],
)

Expand All @@ -194,7 +212,19 @@ def create_parameter_dict(*args):
condition=launch.conditions.IfCondition(LaunchConfiguration("launch_driver")),
)

return [container, driver_loader]
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],
target_container=container,
condition=LaunchConfigurationEquals("return_mode", "Dual"),
)

return [container, driver_loader, ring_outlier_filter_loader, dual_return_filter_loader]


def generate_launch_description():
Expand All @@ -221,6 +251,8 @@ def add_launch_arg(name: str, default_value=None):
add_launch_arg("vehicle_mirror_param_file")
add_launch_arg("use_multithread", "true")
add_launch_arg("use_intra_process", "true")
add_launch_arg("vertical_bins", "40")
add_launch_arg("visibility_threshold", "0.5")

set_container_executable = SetLaunchConfiguration(
"container_executable",
Expand Down
38 changes: 38 additions & 0 deletions common_sensor_launch/launch/hesai_OT128.launch.xml
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@@ -0,0 +1,38 @@
<launch>

<!-- Params -->
<arg name="launch_driver" default="true"/>

<arg name="model" default="Pandar128E4X"/>
<arg name="sensor_frame" default="pandar"/>
<arg name="return_mode" default="Strongest"/>
<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="dual_return_distance_threshold" default="0.1"/>
<arg name="vehicle_mirror_param_file"/>
<arg name="container_name" default="hesai_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="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="$(var cloud_max_angle)"/>
<arg name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/>
<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)"/>
<arg name="ptp_profile" value="802.1as"/>
<arg name="ptp_transport_type" value="L2"/>
</include>
</launch>
38 changes: 38 additions & 0 deletions common_sensor_launch/launch/hesai_QT128.launch.xml
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@@ -0,0 +1,38 @@
<launch>

<!-- Params -->
<arg name="launch_driver" default="true"/>

<arg name="model" default="PandarQT128"/>
<arg name="sensor_frame" default="pandar"/>
<arg name="return_mode" default="Strongest"/>
<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="dual_return_distance_threshold" default="0.1"/>
<arg name="vehicle_mirror_param_file"/>
<arg name="container_name" default="hesai_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="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="$(var cloud_max_angle)"/>
<arg name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/>
<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)"/>
<arg name="ptp_profile" value="1588v2"/>
<arg name="ptp_transport_type" value="UDP"/>
</include>
</launch>
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