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122 | 122 | />
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123 | 123 |
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124 | 124 | <!-- Downsample pointcloud for perception usage -->
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125 |
| - <arg name="downsample_input_pointcloud" default="false"/> |
126 |
| - <arg name="downsample_voxel_size" default="0.05"/> |
127 |
| - <let name="downsampled_pointcloud" value="/perception/common/pointcloud"/> |
128 |
| - <let name="perception_pointcloud" value="$(var input/pointcloud)" unless="$(var downsample_input_pointcloud)"/> |
129 |
| - <let name="perception_pointcloud" value="$(var downsampled_pointcloud)" if="$(var downsample_input_pointcloud)"/> |
130 |
| - <group if="$(var downsample_input_pointcloud)"> |
131 |
| - <load_composable_node target="$(var pointcloud_container_name)"> |
132 |
| - <composable_node pkg="pointcloud_preprocessor" plugin="pointcloud_preprocessor::PickupBasedVoxelGridDownsampleFilterComponent" name="perception_input_pc_downsample_node" namespace=""> |
133 |
| - <remap from="input" to="$(var input/pointcloud)"/> |
134 |
| - <remap from="output" to="$(var downsampled_pointcloud)"/> |
135 |
| - <param name="voxel_size_x" value="$(var downsample_voxel_size)"/> |
136 |
| - <param name="voxel_size_y" value="$(var downsample_voxel_size)"/> |
137 |
| - <param name="voxel_size_z" value="$(var downsample_voxel_size)"/> |
138 |
| - <extra_arg name="use_intra_process_comms" value="true"/> |
139 |
| - </composable_node> |
140 |
| - </load_composable_node> |
141 |
| - </group> |
| 125 | + <arg name="downsample_perception_common_pointcloud" default="false"/> |
| 126 | + <arg name="common_downsample_voxel_size_x" default="0.05"/> |
| 127 | + <arg name="common_downsample_voxel_size_y" default="0.05"/> |
| 128 | + <arg name="common_downsample_voxel_size_z" default="0.05"/> |
142 | 129 |
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143 | 130 | <!-- Perception module -->
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144 | 131 | <group>
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145 | 132 | <push-ros-namespace namespace="perception"/>
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| 133 | + <!-- Perception common preprocess --> |
| 134 | + <let name="downsampled_pointcloud" value="/perception/common/pointcloud"/> |
| 135 | + <let name="perception_pointcloud" value="$(var input/pointcloud)" unless="$(var downsample_input_pointcloud)"/> |
| 136 | + <let name="perception_pointcloud" value="$(var downsampled_pointcloud)" if="$(var downsample_input_pointcloud)"/> |
| 137 | + <group if="$(var downsample_input_pointcloud)"> |
| 138 | + <push-ros-namespace namespace="common"/> |
| 139 | + <load_composable_node target="$(var pointcloud_container_name)"> |
| 140 | + <composable_node pkg="pointcloud_preprocessor" plugin="pointcloud_preprocessor::PickupBasedVoxelGridDownsampleFilterComponent" name="pointcloud_downsample_node" namespace=""> |
| 141 | + <remap from="input" to="$(var input/pointcloud)"/> |
| 142 | + <remap from="output" to="$(var downsampled_pointcloud)"/> |
| 143 | + <param name="voxel_size_x" value="$(var common_downsample_voxel_size_x)"/> |
| 144 | + <param name="voxel_size_y" value="$(var common_downsample_voxel_size_y)"/> |
| 145 | + <param name="voxel_size_z" value="$(var common_downsample_voxel_size_z)"/> |
| 146 | + <extra_arg name="use_intra_process_comms" value="true"/> |
| 147 | + </composable_node> |
| 148 | + </load_composable_node> |
| 149 | + </group> |
146 | 150 |
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147 | 151 | <!-- Object segmentation module -->
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148 | 152 | <group>
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