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refactor(map_tf_generator): rework parameters (#6233)
* refactor(map_tf_generator): rework parameters Signed-off-by: Yamato Ando <yamato.ando@tier4.jp> * add config Signed-off-by: Yamato Ando <yamato.ando@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: Yamato Ando <yamato.ando@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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-15
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launch/tier4_map_launch/launch/map.launch.xml

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@@ -8,6 +8,7 @@
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<!-- Parameter files -->
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<arg name="pointcloud_map_loader_param_path"/>
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<arg name="lanelet2_map_loader_param_path"/>
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<arg name="map_tf_generator_param_path"/>
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<arg name="map_projection_loader_param_path"/>
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<!-- whether use intra-process -->
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</composable_node>
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<composable_node pkg="map_tf_generator" plugin="VectorMapTFGeneratorNode" name="vector_map_tf_generator">
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<param name="map_frame" value="map"/>
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<param name="viewer_frame" value="viewer"/>
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<param from="$(var map_tf_generator_param_path)"/>
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<extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
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</composable_node>
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</node_container>

map/map_tf_generator/CMakeLists.txt

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@@ -48,5 +48,6 @@ 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/map_tf_generator/Readme.md map/map_tf_generator/README.md

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### Core Parameters
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| Name | Type | Default Value | Explanation |
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| -------------- | ------ | ------------- | ------------------------------------- |
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| `viewer_frame` | string | viewer | Name of `viewer` frame |
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| `map_frame` | string | map | The parent frame name of viewer frame |
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{{ json_to_markdown("map/map_tf_generator/schema/map_tf_generator.schema.json") }}
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## Assumptions / Known limits
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/**:
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ros__parameters:
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map_frame: map
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viewer_frame: viewer
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<launch>
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<arg name="input_vector_map_topic" default="/map/vector_map"/>
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<arg name="param_file" default="$(find-pkg-share map_tf_generator)/config/map_tf_generator.param.yaml"/>
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<arg name="map_frame" default="map"/>
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<arg name="viewer_frame" default="viewer"/>
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<arg name="input_vector_map_topic" default="/map/vector_map"/>
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<node pkg="map_tf_generator" exec="vector_map_tf_generator" name="vector_map_tf_generator">
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<remap from="vector_map" to="$(var input_vector_map_topic)"/>
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<param name="map_frame" value="$(var map_frame)"/>
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<param name="viewer_frame" value="$(var viewer_frame)"/>
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<param from="$(var param_file)"/>
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</node>
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</launch>
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{
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "Parameters for Map Tf Generator",
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"type": "object",
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"definitions": {
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"map_tf_generator": {
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"type": "object",
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"properties": {
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"map_frame": {
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"type": "string",
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"description": "The parent frame name of viewer frame",
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"default": "map"
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},
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"viewer_frame": {
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"type": "string",
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"description": "Name of `viewer` frame",
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"default": "viewer"
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}
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},
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"required": ["map_frame", "viewer_frame"],
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"additionalProperties": false
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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/map_tf_generator"
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}
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},
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"required": ["ros__parameters"],
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"additionalProperties": false
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}
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},
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"required": ["/**"],
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"additionalProperties": false
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}

map/map_tf_generator/src/pcd_map_tf_generator_node.cpp

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@@ -36,8 +36,8 @@ class PcdMapTFGeneratorNode : public rclcpp::Node
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explicit PcdMapTFGeneratorNode(const rclcpp::NodeOptions & options)
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: Node("pcd_map_tf_generator", options)
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{
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map_frame_ = declare_parameter("map_frame", "map");
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viewer_frame_ = declare_parameter("viewer_frame", "viewer");
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map_frame_ = declare_parameter<std::string>("map_frame");
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viewer_frame_ = declare_parameter<std::string>("viewer_frame");
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sub_ = create_subscription<sensor_msgs::msg::PointCloud2>(
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"pointcloud_map", rclcpp::QoS{1}.transient_local(),

map/map_tf_generator/src/vector_map_tf_generator_node.cpp

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@@ -31,8 +31,8 @@ class VectorMapTFGeneratorNode : public rclcpp::Node
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explicit VectorMapTFGeneratorNode(const rclcpp::NodeOptions & options)
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: Node("vector_map_tf_generator", options)
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{
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map_frame_ = declare_parameter("map_frame", "map");
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viewer_frame_ = declare_parameter("viewer_frame", "viewer");
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map_frame_ = declare_parameter<std::string>("map_frame");
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viewer_frame_ = declare_parameter<std::string>("viewer_frame");
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sub_ = create_subscription<autoware_auto_mapping_msgs::msg::HADMapBin>(
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"vector_map", rclcpp::QoS{1}.transient_local(),

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