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YamatoAndoYamatoAndo
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update launch files
Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>
1 parent 670f070 commit 401289e

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4 files changed

+55
-69
lines changed

4 files changed

+55
-69
lines changed

‎launch/tier4_localization_launch/launch/localization.launch.xml

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@@ -14,6 +14,11 @@
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<arg name="pose_initializer_param_path"/>
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<arg name="eagleye_param_path"/>
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<!-- parameter paths for lidar_marker_localizer -->
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<arg name="lidar_marker_localizer/lidar_marker_localizer_param_path"/>
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<arg name="lidar_marker_localizer/pointcloud_preprocessor/crop_box_filter_measurement_range_param_path"/>
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<arg name="lidar_marker_localizer/pointcloud_preprocessor/ring_filter_param_path"/>
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<arg name="input_pointcloud" default="/sensing/lidar/top/pointcloud"/>
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<arg name="lidar_container_name" default="/sensing/lidar/top/pointcloud_preprocessor/pointcloud_container"/>
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‎launch/tier4_localization_launch/launch/pose_twist_estimator/lidar_marker_localizer.launch.xml

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@@ -1,11 +1,47 @@
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<?xml version="1.0"?>
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<launch>
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<!-- input pointcloud topic/container -->
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<arg name="input_pointcloud"/>
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<arg name="lidar_container_name"/>
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<!-- whether use intra-process -->
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<arg name="use_intra_process" default="true" description="use ROS 2 component container communication"/>
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<group>
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<push-ros-namespace namespace="lidar_marker_localizer"/>
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<!-- pointcloud preprocess -->
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<group>
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<push-ros-namespace namespace="pointcloud_preprocessor"/>
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<load_composable_node target="$(var lidar_container_name)">
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<composable_node pkg="pointcloud_preprocessor" plugin="pointcloud_preprocessor::CropBoxFilterComponent" name="crop_box_filter_measurement_range">
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<remap from="input" to="$(var input_pointcloud)"/>
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<remap from="output" to="measurement_range/pointcloud_ex"/>
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<param from="$(var lidar_marker_localizer/pointcloud_preprocessor/crop_box_filter_measurement_range_param_path)"/>
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<extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
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</composable_node>
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<composable_node pkg="pointcloud_preprocessor" plugin="pointcloud_preprocessor::PassThroughFilterUInt16Component" name="ring_filter">
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<remap from="input" to="measurement_range/pointcloud_ex"/>
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<remap from="output" to="ring_filter/pointcloud_ex"/>
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<param from="$(var lidar_marker_localizer/pointcloud_preprocessor/ring_filter_param_path)"/>
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<extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
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</composable_node>
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</load_composable_node>
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</group>
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<!-- lidar_marker_localizer -->
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<include file="$(find-pkg-share lidar_marker_localizer)/launch/lidar_marker_localizer.launch.xml">
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<arg name="input_lanelet2_map" value="/map/vector_map"/>
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<arg name="input_ekf_pose" value="/localization/pose_twist_fusion_filter/biased_pose_with_covariance"/>
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<arg name="input_pointcloud" value="/sensing/lidar/top/rectified/pointcloud_ex"/>
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<arg name="input_pointcloud" value="pointcloud_preprocessor/ring_filter/pointcloud_ex"/>
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<arg name="output_pose_with_covariance" value="/localization/pose_estimator/pose_with_covariance"/>
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<arg name="service_trigger_node_srv" value="trigger_node_srv"/>
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<arg name="param_file" value="$(var lidar_marker_localizer/lidar_marker_localizer_param_path)"/>
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</include>
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</group>
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</launch>

‎launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml

+12-29
Original file line numberDiff line numberDiff line change
@@ -8,7 +8,7 @@
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<arg name="gnss_enabled" default="true" description="gnss availability for initial position estimation"/>
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<!-- split string with underscores -->
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<let name="available_args" value="[\'ndt\',\'yabloc\',\'eagleye\',\'artag\']"/>
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<let name="available_args" value="[\'ndt\',\'yabloc\',\'eagleye\',\'artag\',\'lidarmarker\']"/>
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<let name="split_function" value="list(set('$(var pose_source)'.split('_')).intersection($(var available_args)))"/>
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<let name="pose_sources" value="$(eval $(var split_function))"/>
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<let name="multi_localizer_mode" value="$(eval &quot;len($(var pose_sources))> 1&quot;)"/>
@@ -17,6 +17,7 @@
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<let name="use_ndt_pose" value="$(eval &quot;'ndt' in $(var pose_sources)&quot;)"/>
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<let name="use_yabloc_pose" value="$(eval &quot;'yabloc' in $(var pose_sources)&quot;)"/>
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<let name="use_artag_pose" value="$(eval &quot;'artag' in $(var pose_sources)&quot;)"/>
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<let name="use_lidar_marker_pose" value="$(eval &quot;'lidarmarker' in $(var pose_sources)&quot;)"/>
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<let name="use_eagleye_pose" value="$(eval &quot;'eagleye' in $(var pose_sources)&quot;)"/>
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<let name="use_eagleye_twist" value="$(eval &quot;'eagleye' == '$(var twist_source)'&quot;)"/>
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<let name="use_gyro_odom_twist" value="$(eval &quot;'gyro_odom' == '$(var twist_source)'&quot;)"/>
@@ -72,6 +73,16 @@
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</include>
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</group>
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<!-- LiDAR Marker Localizer (as pose estimator) -->
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<group if="$(var use_lidar_marker_pose)">
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<push-ros-namespace namespace="pose_estimator"/>
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<!-- TODO multi_localizer_mode -->
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<include file="$(find-pkg-share tier4_localization_launch)/launch/pose_twist_estimator/lidar_marker_localizer.launch.xml">
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<arg name="lidar_container_name" value="/sensing/lidar/top/pointcloud_preprocessor/pointcloud_container"/>
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<arg name="input_pointcloud" value="/sensing/lidar/top/rectified/pointcloud_ex"/>
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</include>
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</group>
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<!-- Pose Estimator Arbiter Launch -->
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<group if="$(var multi_localizer_mode)">
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<include file="$(find-pkg-share pose_estimator_arbiter)/launch/pose_estimator_arbiter.launch.xml">
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</include>
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</group>
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<!-- LiDAR Marker Localizer (as pose estimator) -->
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<group if="$(eval &quot;'$(var pose_source)'=='lidarmarker'&quot;)">
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<group>
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<push-ros-namespace namespace="pose_estimator"/>
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<include file="$(find-pkg-share tier4_localization_launch)/launch/pose_twist_estimator/lidar_marker_localizer.launch.xml"/>
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</group>
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<group>
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<push-ros-namespace namespace="pose_estimator"/>
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<include file="$(find-pkg-share tier4_localization_launch)/launch/pose_twist_estimator/ndt_scan_matcher.launch.xml"/>
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</group>
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<group>
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<push-ros-namespace namespace="util"/>
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<include file="$(find-pkg-share pose_initializer)/launch/pose_initializer.launch.xml">
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<arg name="ndt_enabled" value="true"/>
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<arg name="gnss_enabled" value="true"/>
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<arg name="ekf_enabled" value="true"/>
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<arg name="yabloc_enabled" value="false"/>
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<arg name="stop_check_enabled" value="$(var stop_check_enabled)"/>
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<arg name="config_file" value="$(var pose_initializer_param_path)"/>
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<arg name="sub_gnss_pose_cov" value="/sensing/gnss/pose_with_covariance"/>
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</include>
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<group if="$(var gnss_enabled)">
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<include file="$(find-pkg-share automatic_pose_initializer)/launch/automatic_pose_initializer.launch.xml"/>
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</group>
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<include file="$(find-pkg-share tier4_localization_launch)/launch/util/util.launch.py"/>
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</group>
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</group>
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</launch>

‎localization/landmark_based_localizer/lidar_marker_localizer/launch/lidar_marker_localizer.launch.xml

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@@ -10,46 +10,8 @@
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<arg name="service_trigger_node_srv" default="~/service/trigger_node_srv"/>
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<!-- container -->
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<arg name="pointcloud_container_name" default="/pointcloud_container" description="container name"/>
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<!-- whether use intra-process -->
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<arg name="use_intra_process" default="true" description="use ROS 2 component container communication"/>
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<load_composable_node target="$(var pointcloud_container_name)">
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<composable_node pkg="pointcloud_preprocessor" plugin="pointcloud_preprocessor::CropBoxFilterComponent" name="crop_box_filter_measurement_range">
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<param name="input_frame" value="base_link"/>
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<param name="output_frame" value="base_link"/>
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<param name="min_x" value="-10.0"/>
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<param name="max_x" value="10.0"/>
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<param name="min_y" value="0.0"/>
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<param name="max_y" value="7.5"/>
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<param name="min_z" value="-5.0"/>
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<param name="max_z" value="5.0"/>
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<param name="negative" value="False"/>
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<remap from="input" to="$(var input_pointcloud)"/>
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<remap from="output" to="measurement_range/pointcloud_ex"/>
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<extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
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</composable_node>
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<composable_node pkg="pointcloud_preprocessor" plugin="pointcloud_preprocessor::PassThroughFilterUInt16Component" name="ring_filter">
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<param name="input_frame" value="base_link"/>
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<param name="output_frame" value="base_link"/>
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<param name="filter_field_name" value="ring"/>
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<param name="filter_limit_min" value="5"/>
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<param name="filter_limit_max" value="45"/>
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<param name="filter_limit_negative" value="False"/>
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<param name="keep_organized" value="False"/>
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<remap from="input" to="measurement_range/pointcloud_ex"/>
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<remap from="output" to="ring_filter/pointcloud_ex"/>
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<extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
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</composable_node>
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</load_composable_node>
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<node pkg="lidar_marker_localizer" exec="lidar_marker_localizer" name="lidar_marker_localizer" output="log">
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<remap from="~/input/pointcloud_ex" to="ring_filter/pointcloud_ex"/>
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<remap from="~/input/pointcloud_ex" to="$(var input_pointcloud)"/>
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<remap from="~/input/ekf_pose" to="$(var input_ekf_pose)"/>
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<remap from="~/input/lanelet2_map" to="$(var input_lanelet2_map)"/>
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