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Create pointcloud_container for preprocessing in localization component
Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp>
1 parent 3e12d13 commit ee32885

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3 files changed

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-5
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3 files changed

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launch/tier4_localization_launch/launch/localization.launch.xml

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<arg name="ar_tag_based_localizer_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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<arg name="target_pointcloud_container_name" default="/localization/util/pointcloud_preprocessor/pointcloud_container" description="The name of the container preprocessing the pointcloud"/>
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<!-- localization module -->
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<group>
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<push-ros-namespace namespace="localization"/>
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<!-- pose_twist_estimator module -->
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<include file="$(find-pkg-share tier4_localization_launch)/launch/pose_twist_estimator/pose_twist_estimator.launch.xml">
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<arg name="lidar_container_name" value="$(var lidar_container_name)"/>
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<arg name="target_pointcloud_container_name" value="$(var target_pointcloud_container_name)"/>
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</include>
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<!-- pose_twist_fusion_filter module -->

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

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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.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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</group>

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

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<arg name="output/pointcloud" default="downsample/pointcloud" description="final output topic name"/>
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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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<arg name="target_pointcloud_container_name" default="/localization/util/pointcloud_preprocessor/pointcloud_container" description="container name of the pointcloud used for localization"/>
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<let name="use_existing_pointcloud_container" value="$(eval &quot;'$(var target_pointcloud_container_name)' != '/localization/util/pointcloud_preprocessor/pointcloud_container' &quot;)"/>
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<node_container unless="$(var use_existing_pointcloud_container)" pkg="rclcpp_components" exec="component_container" name="pointcloud_container" namespace="pointcloud_preprocessor"/>
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<!-- whether use intra-process -->
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<arg name="use_intra_process" default="true" description="use ROS 2 component container communication"/>
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<load_composable_node target="$(var lidar_container_name)">
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<load_composable_node target="$(var target_pointcloud_container_name)">
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<composable_node pkg="pointcloud_preprocessor" plugin="pointcloud_preprocessor::CropBoxFilterComponent" name="crop_box_filter_measurement_range">
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<param from="$(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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