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refactor(tier4_localization_launch): use util.launch.xml instead of util.launch.py #6287

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merged 3 commits into from
Feb 6, 2024
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refactor(tier4_localization_launch): use util.launch.xml instead of util.launch.py #6287

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refactor(tier4_localization_launch): use util.launch.xml instead of u…
YamatoAndo Feb 1, 2024
7fd55cf
style(pre-commit): autofix
pre-commit-ci[bot] Feb 1, 2024
0d6f7d6
Merge branch 'main' into refactor/tier4_localization_launch/use_util_…
YamatoAndo Feb 6, 2024
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2 changes: 1 addition & 1 deletion launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -108,7 +108,7 @@
<!-- pointcloud_downsampling -->
<let name="override_input_pointcloud" value="$(var input_pointcloud)"/>
<let name="override_input_pointcloud" value="$(var input_pointcloud)/relay" if="$(var multi_localizer_mode)"/>
<include file="$(find-pkg-share tier4_localization_launch)/launch/util/util.launch.py" if="$(var use_ndt_pose)">
<include file="$(find-pkg-share tier4_localization_launch)/launch/util/util.launch.xml" if="$(var use_ndt_pose)">
<arg name="lidar_container_name" value="$(var lidar_container_name)"/>
<arg name="input_pointcloud" value="$(var override_input_pointcloud)"/>
</include>
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136 changes: 0 additions & 136 deletions launch/tier4_localization_launch/launch/util/util.launch.py
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33 changes: 33 additions & 0 deletions launch/tier4_localization_launch/launch/util/util.launch.xml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,33 @@
<launch>
<!-- topic -->
<arg name="output/pointcloud" default="downsample/pointcloud" description="final output topic name"/>

<!-- container -->
<arg name="lidar_container_name" default="/sensing/lidar/top/pointcloud_preprocessor/pointcloud_container" description="container name of main lidar used for localization"/>

<!-- whether use intra-process -->
<arg name="use_intra_process" default="true" description="use ROS 2 component container communication"/>

<load_composable_node target="$(var lidar_container_name)">
<composable_node pkg="pointcloud_preprocessor" plugin="pointcloud_preprocessor::CropBoxFilterComponent" name="crop_box_filter_measurement_range">
<param from="$(var crop_box_filter_measurement_range_param_path)"/>
<remap from="input" to="$(var input_pointcloud)"/>
<remap from="output" to="measurement_range/pointcloud"/>
<extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
</composable_node>

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

<composable_node pkg="pointcloud_preprocessor" plugin="pointcloud_preprocessor::RandomDownsampleFilterComponent" name="random_downsample_filter">
<param from="$(var random_downsample_filter_param_path)"/>
<remap from="input" to="voxel_grid_downsample/pointcloud"/>
<remap from="output" to="$(var output/pointcloud)"/>
<extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
</composable_node>
</load_composable_node>
</launch>
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