feat(map): add launch_pointcloud_map_loader #6290
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Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
kosuke55
requested review from
anhnv3991,
isamu-takagi,
KYabuuchi,
Motsu-san,
RyuYamamoto,
SakodaShintaro,
TaikiYamada4,
YamatoAndo,
kminoda and
mitsudome-r
as code owners
github-actions
bot
added
component:map
4 tasks
kosuke55
commented
Feb 1, 2024
| @@ -72,8 +72,9 @@ MapHeightFitter::Impl::Impl(rclcpp::Node * node) : tf2_listener_(tf2_buffer_), n | |||
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| const auto map_loader_name = node->declare_parameter<std::string>("map_loader_name"); | |||
| params_map_loader_ = rclcpp::AsyncParametersClient::make_shared(node, map_loader_name); | |||
| params_map_loader_->wait_for_service(); | |||
| params_map_loader_->get_parameters({enable_partial_load}, callback); | |||
| if (params_map_loader_->wait_for_service(std::chrono::seconds(5.0))) { | |||
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this time may not be sufficient. I need better way
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@KYabuuchi will think better way!! |
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tier4 internal slack |
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Description
loading pcd map and map_hight_fitter with pointcloud ara time consuming (e.g. 3sec for initial pose).
they are not necessary for planning simulator, so add launch_pointcloud_map_loader to disable that
(I also feel it's not a good way)
Tests performed
put initial pose in psim with following
Effects on system behavior
Not applicable.
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