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Motsu-sanpre-commit-ci[bot]
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karishma1911
committedJun 3, 2024
refactor(lanelet2_map_preprocessor): rework parameter (autowarefoundation#6218)
* refactor: Create .yaml file for default parameters of transform_maps.launch.xml Signed-off-by: Motsu-san <masahiro.sakamoto@tier4.jp> * refactor: Create JSON Schema file of transform_maps Signed-off-by: Motsu-san <masahiro.sakamoto@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: Motsu-san <masahiro.sakamoto@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
1 parent 42fcd71 commit 4f629b1

7 files changed

+101
-34
lines changed
 

‎map/util/lanelet2_map_preprocessor/CMakeLists.txt

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@@ -29,5 +29,6 @@ if(BUILD_TESTING)
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endif()
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ament_auto_package(INSTALL_TO_SHARE
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config
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launch
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)

‎map/util/lanelet2_map_preprocessor/config/fix_z_value_by_pcd.param.yaml

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/**:
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ros__parameters:
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llt_map_path: $(var llt_map_path)
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pcd_map_path: $(var pcd_map_path)
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llt_output_path: $(var llt_output_path)

‎map/util/lanelet2_map_preprocessor/config/transform_maps.param.yaml

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/**:
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ros__parameters:
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llt_map_path: $(var llt_map_path)
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pcd_map_path: $(var pcd_map_path)
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llt_output_path: $(var llt_output_path)
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pcd_output_path: $(var pcd_output_path)
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x: 0.0
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y: 0.0
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z: 0.0
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roll: 0.0
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pitch: 0.0
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yaw: 0.0

‎map/util/lanelet2_map_preprocessor/launch/fix_z_value_by_pcd.launch.xml

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@@ -1,12 +1,6 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<launch>
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<arg name="llt_map_path" default=""/>
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<arg name="pcd_map_path" default=""/>
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<arg name="llt_output_path" default=""/>
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<node pkg="lanelet2_map_preprocessor" exec="fix_z_value_by_pcd" name="fix_z_value_by_pcd" output="screen">
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<param name="llt_map_path" value="$(var llt_map_path)"/>
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<param name="pcd_map_path" value="$(var pcd_map_path)"/>
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<param name="llt_output_path" value="$(var llt_output_path)"/>
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<param from="$(find-pkg-share lanelet2_map_preprocessor)/config/fix_z_value_by_pcd.param.yaml" allow_substs="true"/>
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</node>
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</launch>

‎map/util/lanelet2_map_preprocessor/launch/transform_maps.launch.xml

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@@ -1,26 +1,6 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<launch>
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<arg name="llt_map_path" default=""/>
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<arg name="pcd_map_path" default=""/>
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<arg name="llt_output_path" default=""/>
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<arg name="pcd_output_path" default=""/>
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<arg name="x" default="0.0"/>
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<arg name="y" default="0.0"/>
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<arg name="z" default="0.0"/>
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<arg name="roll" default="0.0"/>
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<arg name="pitch" default="0.0"/>
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<arg name="yaw" default="0.0"/>
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<node pkg="lanelet2_map_preprocessor" exec="transform_maps" name="transform_maps" output="screen">
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<param name="llt_map_path" value="$(var llt_map_path)"/>
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<param name="pcd_map_path" value="$(var pcd_map_path)"/>
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<param name="llt_output_path" value="$(var llt_output_path)"/>
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<param name="pcd_output_path" value="$(var pcd_output_path)"/>
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<param name="x" value="$(var x)"/>
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<param name="y" value="$(var y)"/>
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<param name="z" value="$(var z)"/>
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<param name="roll" value="$(var roll)"/>
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<param name="pitch" value="$(var pitch)"/>
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<param name="yaw" value="$(var yaw)"/>
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<param from="$(find-pkg-share lanelet2_map_preprocessor)/config/transform_maps.param.yaml" allow_substs="true"/>
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</node>
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</launch>

‎map/util/lanelet2_map_preprocessor/schema/transform_maps.schema.json

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{
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "Parameters for Transforming Maps",
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"type": "object",
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"definitions": {
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"transform_maps": {
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"type": "object",
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"properties": {
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"llt_map_path": {
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"type": "string",
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"description": "Path pointing to the input lanelet2 file",
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"default": ""
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},
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"pcd_map_path": {
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"type": "string",
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"description": "Path pointing to the input point cloud file",
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"default": ""
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},
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"llt_output_path": {
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"type": "string",
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"description": "Path pointing to the output lanelet2 file",
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"default": ""
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},
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"pcd_output_path": {
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"type": "string",
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"description": "Path pointing to the output point cloud file",
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"default": ""
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},
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"x": {
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"type": "number",
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"default": 0.0,
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"description": "x factor of Translation vector for transforming maps [m]"
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},
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"y": {
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"type": "number",
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"default": 0.0,
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"description": "y factor of Translation vector for transforming maps [m]"
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},
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"z": {
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"type": "number",
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"default": 0.0,
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"description": "z factor of Translation vector for transforming maps [m]"
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},
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"roll": {
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"type": "number",
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"default": 0.0,
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"description": "roll factor of Rotation vector for transforming maps [rad]"
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},
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"pitch": {
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"type": "number",
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"default": 0.0,
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"description": "pitch factor of Rotation vector for transforming maps [rad]"
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},
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"yaw": {
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"type": "number",
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"default": 0.0,
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"description": "yaw factor of Rotation vector for transforming maps [rad]"
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}
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},
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"required": ["x", "y", "z", "roll", "pitch", "yaw"]
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}
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},
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"properties": {
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"/**": {
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"type": "object",
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"properties": {
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"ros__parameters": {
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"$ref": "#/definitions/transform_maps"
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}
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},
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"required": ["ros__parameters"]
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}
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},
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"required": ["/**"]
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}

‎map/util/lanelet2_map_preprocessor/src/transform_maps.cpp

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@@ -107,12 +107,12 @@ int main(int argc, char * argv[])
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const auto pcd_map_path = node->declare_parameter<std::string>("pcd_map_path");
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const auto llt_output_path = node->declare_parameter<std::string>("llt_output_path");
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const auto pcd_output_path = node->declare_parameter<std::string>("pcd_output_path");
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const auto x = node->declare_parameter<double>("x", 0.0);
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const auto y = node->declare_parameter<double>("y", 0.0);
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const auto z = node->declare_parameter<double>("z", 0.0);
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const auto roll = node->declare_parameter<double>("roll", 0.0);
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const auto pitch = node->declare_parameter<double>("pitch", 0.0);
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const auto yaw = node->declare_parameter<double>("yaw", 0.0);
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const auto x = node->declare_parameter<double>("x");
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const auto y = node->declare_parameter<double>("y");
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const auto z = node->declare_parameter<double>("z");
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const auto roll = node->declare_parameter<double>("roll");
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const auto pitch = node->declare_parameter<double>("pitch");
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const auto yaw = node->declare_parameter<double>("yaw");
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std::cout << "transforming maps with following parameters" << std::endl
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<< "x " << x << std::endl

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