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chore(map_loader): rework parameters of map_loader (#6199)
* Rework parameters of map_loader Signed-off-by: anhnv3991 <anh.nguyen.2@tier4.jp> * style(pre-commit): autofix * Fixed typo in name of map_based_pediction.schema.json, which cause json-schema-check failed Signed-off-by: anhnv3991 <anh.nguyen.2@tier4.jp> * Move path variables back to launch files Signed-off-by: anhnv3991 <anh.nguyen.2@tier4.jp> * Update README.md Signed-off-by: anhnv3991 <anh.nguyen.2@tier4.jp> * Undo the change in perception Signed-off-by: anhnv3991 <anh.nguyen.2@tier4.jp> * Remove default values of declare_parameter from map_loader Signed-off-by: anhnv3991 <anh.nguyen.2@tier4.jp> --------- Signed-off-by: anhnv3991 <anh.nguyen.2@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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‎map/map_loader/README.md

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@@ -111,15 +111,7 @@ Please see [the description of `GetSelectedPointCloudMap.srv`](https://github.co
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### Parameters
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| Name | Type | Description | Default value |
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| :---------------------------- | :---------- | :-------------------------------------------------------------------------------- | :------------ |
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| enable_whole_load | bool | A flag to enable raw pointcloud map publishing | true |
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| enable_downsampled_whole_load | bool | A flag to enable downsampled pointcloud map publishing | false |
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| enable_partial_load | bool | A flag to enable partial pointcloud map server | false |
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| enable_selected_load | bool | A flag to enable selected pointcloud map server | false |
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| leaf_size | float | Downsampling leaf size (only used when enable_downsampled_whole_load is set true) | 3.0 |
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| pcd_paths_or_directory | std::string | Path(s) to pointcloud map file or directory | |
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| pcd_metadata_path | std::string | Path to pointcloud metadata file | |
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{{ json_to_markdown("map/map_loader/schema/pointcloud_map_loader.schema.json") }}
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### Interfaces
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@@ -156,10 +148,7 @@ Please see [tier4_autoware_msgs/msg/MapProjectorInfo.msg](https://github.com/tie
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### Parameters
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| Name | Type | Description | Default value |
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| :--------------------- | :---------- | :----------------------------------------------- | :------------ |
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| center_line_resolution | double | Define the resolution of the lanelet center line | 5.0 |
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| lanelet2_map_path | std::string | The lanelet2 map path | None |
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{{ json_to_markdown("map/map_loader/schema/lanelet2_map_loader.schema.json") }}
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---
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‎map/map_loader/config/lanelet2_map_loader.param.yaml

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@@ -1,3 +1,4 @@
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/**:
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ros__parameters:
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center_line_resolution: 5.0 # [m]
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lanelet2_map_path: $(var lanelet2_map_path) # The lanelet2 map path

‎map/map_loader/config/pointcloud_map_loader.param.yaml

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@@ -7,3 +7,5 @@
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# only used when downsample_whole_load enabled
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leaf_size: 3.0 # downsample leaf size [m]
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pcd_paths_or_directory: [$(var pcd_paths_or_directory)] # Path to the pointcloud map file or directory
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pcd_metadata_path: $(var pcd_metadata_path) # Path to pointcloud metadata file

‎map/map_loader/launch/lanelet2_map_loader.launch.xml

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@@ -5,13 +5,12 @@
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<arg name="lanelet2_map_marker_topic" default="vector_map_marker"/>
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<node pkg="map_loader" exec="map_hash_generator" name="map_hash_generator">
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<param name="lanelet2_map_path" value="$(var lanelet2_map_path)"/>
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<param from="$(var lanelet2_map_loader_param_path)" allow_substs="true"/>
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</node>
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<node pkg="map_loader" exec="lanelet2_map_loader" name="lanelet2_map_loader">
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<remap from="output/lanelet2_map" to="$(var lanelet2_map_topic)"/>
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<param name="lanelet2_map_path" value="$(var lanelet2_map_path)"/>
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<param from="$(var lanelet2_map_loader_param_path)"/>
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<param from="$(var lanelet2_map_loader_param_path)" allow_substs="true"/>
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</node>
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<node pkg="map_loader" exec="lanelet2_map_visualization" name="lanelet2_map_visualization">

‎map/map_loader/launch/pointcloud_map_loader.launch.xml

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@@ -7,8 +7,6 @@
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<remap from="output/pointcloud_map" to="/map/pointcloud_map"/>
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<remap from="service/get_partial_pcd_map" to="/map/get_partial_pointcloud_map"/>
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<remap from="service/get_selected_pcd_map" to="/map/get_selected_pointcloud_map"/>
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<param name="pcd_paths_or_directory" value="[$(var pointcloud_map_path)]"/>
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<param name="pcd_metadata_path" value="$(var pcd_metadata_path)"/>
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<param from="$(var pointcloud_map_loader_param_path)"/>
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<param from="$(var pointcloud_map_loader_param_path)" allow_substs="true"/>
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</node>
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</launch>

‎map/map_loader/schema/lanelet2_map_loader.schema.json

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{
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "Parameters for lanelet2 map loader Node",
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"type": "object",
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"definitions": {
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"lanelet2_map_loader": {
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"type": "object",
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"properties": {
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"center_line_resolution": {
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"type": "number",
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"description": "Resolution of the Lanelet center line [m]",
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"default": "5.0"
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},
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"lanelet2_map_path": {
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"type": "string",
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"description": "The lanelet2 map path pointing to the .osm file",
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"default": ""
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}
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},
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"required": ["center_line_resolution", "lanelet2_map_path"],
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"additionalProperties": false
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}
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},
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"properties": {
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"/**": {
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"type": "object",
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"properties": {
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"ros__parameters": {
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"$ref": "#/definitions/lanelet2_map_loader"
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}
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},
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"required": ["ros__parameters"],
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"additionalProperties": false
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}
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},
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"required": ["/**"],
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"additionalProperties": false
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}

‎map/map_loader/schema/pointcloud_map_loader.schema.json

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@@ -0,0 +1,71 @@
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{
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "Parameters for point cloud map loader Node",
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"type": "object",
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"definitions": {
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"pointcloud_map_loader": {
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"type": "object",
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"properties": {
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"enable_whole_load": {
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"type": "boolean",
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"description": "Enable raw pointcloud map publishing",
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"default": true
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},
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"enable_downsampled_whole_load": {
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"type": "boolean",
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"description": "Enable downsampled pointcloud map publishing",
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"default": false
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},
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"enable_partial_load": {
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"type": "boolean",
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"description": "Enable partial pointcloud map server",
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"default": true
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},
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"enable_selected_load": {
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"type": "boolean",
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"description": "Enable selected pointcloud map server",
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"default": false
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},
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"leaf_size": {
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"type": "number",
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"description": "Downsampling leaf size (only used when enable_downsampled_whole_load is set true)",
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"default": 3.0
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},
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"pcd_paths_or_directory": {
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"type": "array",
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"description": "Path(s) to pointcloud map file or directory",
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"default": []
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},
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"pcd_metadata_path": {
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"type": "string",
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"description": "Path to pointcloud metadata file",
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"default": ""
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}
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},
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"required": [
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"enable_whole_load",
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"enable_downsampled_whole_load",
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"enable_partial_load",
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"enable_selected_load",
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"leaf_size",
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"pcd_paths_or_directory",
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"pcd_metadata_path"
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],
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"additionalProperties": false
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}
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},
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"properties": {
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"/**": {
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"type": "object",
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"properties": {
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"ros__parameters": {
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"$ref": "#/definitions/pointcloud_map_loader"
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}
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},
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"required": ["ros__parameters"],
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"additionalProperties": false
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}
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},
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"required": ["/**"],
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"additionalProperties": false
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}

‎map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp

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@@ -61,8 +61,8 @@ Lanelet2MapLoaderNode::Lanelet2MapLoaderNode(const rclcpp::NodeOptions & options
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sub_map_projector_info_,
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[this](const MapProjectorInfo::Message::ConstSharedPtr msg) { on_map_projector_info(msg); });
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declare_parameter("lanelet2_map_path", "");
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declare_parameter("center_line_resolution", 5.0);
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declare_parameter<std::string>("lanelet2_map_path");
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declare_parameter<double>("center_line_resolution");
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}
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void Lanelet2MapLoaderNode::on_map_projector_info(

‎map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp

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@@ -71,7 +71,7 @@ Lanelet2MapVisualizationNode::Lanelet2MapVisualizationNode(const rclcpp::NodeOpt
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{
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using std::placeholders::_1;
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viz_lanelets_centerline_ = this->declare_parameter("viz_lanelets_centerline", true);
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viz_lanelets_centerline_ = true;
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sub_map_bin_ = this->create_subscription<autoware_auto_mapping_msgs::msg::HADMapBin>(
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"input/lanelet2_map", rclcpp::QoS{1}.transient_local(),

‎map/map_loader/test/lanelet2_map_loader_launch.test.py

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@@ -34,7 +34,7 @@ def generate_test_description():
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lanelet2_map_loader = Node(
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package="map_loader",
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executable="lanelet2_map_loader",
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parameters=[{"lanelet2_map_path": lanelet2_map_path}],
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parameters=[{"lanelet2_map_path": lanelet2_map_path, "center_line_resolution": 5.0}],
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)
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context = {}

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