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chore(ndt scan matcher): rename config path (#6333)
* refactor(tier4_localization_launch): use util.launch.xml instead of util.launch.py Signed-off-by: Yamato Ando <yamato.ando@tier4.jp> * style(pre-commit): autofix * chore(ndt_scan_matcher): rename config path Signed-off-by: Yamato Ando <yamato.ando@tier4.jp> * rename path Signed-off-by: Yamato Ando <yamato.ando@tier4.jp> --------- 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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launch/tier4_localization_launch/launch/localization.launch.xml

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<arg name="twist_source"/>
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<arg name="system_run_mode"/>
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<!-- parameter paths for ndt -->
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<arg name="ndt_scan_matcher/pointcloud_preprocessor/crop_box_filter_measurement_range_param_path"/>
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<arg name="ndt_scan_matcher/pointcloud_preprocessor/voxel_grid_downsample_filter_param_path"/>
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<arg name="ndt_scan_matcher/pointcloud_preprocessor/random_downsample_filter_param_path"/>
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<arg name="ndt_scan_matcher/ndt_scan_matcher_param_path"/>
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<!-- Parameter files -->
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<arg name="crop_box_filter_measurement_range_param_path"/>
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<arg name="voxel_grid_downsample_filter_param_path"/>
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<arg name="random_downsample_filter_param_path"/>
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<arg name="ndt_scan_matcher_param_path"/>
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<arg name="localization_error_monitor_param_path"/>
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<arg name="ekf_localizer_param_path"/>
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<arg name="pose_initializer_param_path"/>

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

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<arg name="client_map_loader" value="/map/get_differential_pointcloud_map"/>
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<arg name="param_file" value="$(var ndt_scan_matcher_param_path)"/>
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<arg name="param_file" value="$(var ndt_scan_matcher/ndt_scan_matcher_param_path)"/>
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</include>
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</group>
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</launch>

launch/tier4_localization_launch/launch/util/util.launch.xml

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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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<param from="$(var ndt_scan_matcher/pointcloud_preprocessor/crop_box_filter_measurement_range_param_path)"/>
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<remap from="input" to="$(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="$(var use_intra_process)"/>
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</composable_node>
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<composable_node pkg="pointcloud_preprocessor" plugin="pointcloud_preprocessor::VoxelGridDownsampleFilterComponent" name="voxel_grid_downsample_filter">
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<param from="$(var voxel_grid_downsample_filter_param_path)"/>
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<param from="$(var ndt_scan_matcher/pointcloud_preprocessor/voxel_grid_downsample_filter_param_path)"/>
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<remap from="input" to="measurement_range/pointcloud"/>
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<remap from="output" to="voxel_grid_downsample/pointcloud"/>
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<extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
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</composable_node>
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<composable_node pkg="pointcloud_preprocessor" plugin="pointcloud_preprocessor::RandomDownsampleFilterComponent" name="random_downsample_filter">
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<param from="$(var random_downsample_filter_param_path)"/>
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<param from="$(var ndt_scan_matcher/pointcloud_preprocessor/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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