Commit b396413 1 parent c897b3d commit b396413 Copy full SHA for b396413
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launch/tier4_localization_launch/launch
3 files changed +34
-137
lines changed Original file line number Diff line number Diff line change 108
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<!-- pointcloud_downsampling -->
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<let name =" override_input_pointcloud" value =" $(var input_pointcloud)" />
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<let name =" override_input_pointcloud" value =" $(var input_pointcloud)/relay" if =" $(var multi_localizer_mode)" />
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- <include file =" $(find-pkg-share tier4_localization_launch)/launch/util/util.launch.py " if =" $(var use_ndt_pose)" >
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+ <include file =" $(find-pkg-share tier4_localization_launch)/launch/util/util.launch.xml " if =" $(var use_ndt_pose)" >
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<arg name =" lidar_container_name" value =" $(var lidar_container_name)" />
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<arg name =" input_pointcloud" value =" $(var override_input_pointcloud)" />
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</include >
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+ <launch >
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+ <!-- topic -->
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+ <arg name =" output/pointcloud" default =" downsample/pointcloud" description =" final output topic name" />
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+
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+ <!-- container -->
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+ <arg name =" lidar_container_name" default =" /sensing/lidar/top/pointcloud_preprocessor/pointcloud_container" description =" container name of main lidar used for localization" />
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+
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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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+
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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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+ <param from =" $(var crop_box_filter_measurement_range_param_path)" />
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+ <remap from =" input" to =" $(var input_pointcloud)" />
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+ <remap from =" output" to =" measurement_range/pointcloud" />
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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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+
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+ <composable_node pkg =" pointcloud_preprocessor" plugin =" pointcloud_preprocessor::VoxelGridDownsampleFilterComponent" name =" voxel_grid_downsample_filter" >
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+ <param from =" $(var voxel_grid_downsample_filter_param_path)" />
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+ <remap from =" input" to =" measurement_range/pointcloud" />
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+ <remap from =" output" to =" voxel_grid_downsample/pointcloud" />
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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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+
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+ <composable_node pkg =" pointcloud_preprocessor" plugin =" pointcloud_preprocessor::RandomDownsampleFilterComponent" name =" random_downsample_filter" >
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+ <param from =" $(var random_downsample_filter_param_path)" />
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+ <remap from =" input" to =" voxel_grid_downsample/pointcloud" />
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+ <remap from =" output" to =" $(var output/pointcloud)" />
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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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+ </launch >
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