From 68f9ddb95661b9dd17ad94a2ca9f82f8b9cb1c17 Mon Sep 17 00:00:00 2001
From: Motsu-san <masahiro.sakamoto@tier4.jp>
Date: Mon, 29 Jan 2024 21:41:43 +0900
Subject: [PATCH 1/5] refactor: Create .yaml file for default parameters of
transform_maps.launch.xml
Signed-off-by: Motsu-san <masahiro.sakamoto@tier4.jp>
---
map/util/lanelet2_map_preprocessor/CMakeLists.txt | 1 +
.../config/transform_maps.param.yaml | 8 ++++++++
.../launch/transform_maps.launch.xml | 14 ++------------
.../src/transform_maps.cpp | 12 ++++++------
4 files changed, 17 insertions(+), 18 deletions(-)
create mode 100644 map/util/lanelet2_map_preprocessor/config/transform_maps.param.yaml
diff --git a/map/util/lanelet2_map_preprocessor/CMakeLists.txt b/map/util/lanelet2_map_preprocessor/CMakeLists.txt
index 8a6b16c05011b..982a262455efa 100644
--- a/map/util/lanelet2_map_preprocessor/CMakeLists.txt
+++ b/map/util/lanelet2_map_preprocessor/CMakeLists.txt
@@ -29,5 +29,6 @@ if(BUILD_TESTING)
endif()
ament_auto_package(INSTALL_TO_SHARE
+ config
launch
)
diff --git a/map/util/lanelet2_map_preprocessor/config/transform_maps.param.yaml b/map/util/lanelet2_map_preprocessor/config/transform_maps.param.yaml
new file mode 100644
index 0000000000000..04ef7ad2cccd1
--- /dev/null
+++ b/map/util/lanelet2_map_preprocessor/config/transform_maps.param.yaml
@@ -0,0 +1,8 @@
+/**:
+ ros__parameters:
+ x: 0.0
+ y: 0.0
+ z: 0.0
+ roll: 0.0
+ pitch: 0.0
+ yaw: 0.0
diff --git a/map/util/lanelet2_map_preprocessor/launch/transform_maps.launch.xml b/map/util/lanelet2_map_preprocessor/launch/transform_maps.launch.xml
index 902ca982dace1..c48f54de2f323 100644
--- a/map/util/lanelet2_map_preprocessor/launch/transform_maps.launch.xml
+++ b/map/util/lanelet2_map_preprocessor/launch/transform_maps.launch.xml
@@ -4,23 +4,13 @@
<arg name="pcd_map_path" default=""/>
<arg name="llt_output_path" default=""/>
<arg name="pcd_output_path" default=""/>
- <arg name="x" default="0.0"/>
- <arg name="y" default="0.0"/>
- <arg name="z" default="0.0"/>
- <arg name="roll" default="0.0"/>
- <arg name="pitch" default="0.0"/>
- <arg name="yaw" default="0.0"/>
+ <arg name="param_file" default="$(find-pkg-share lanelet2_map_preprocessor)/config/transform_maps.param.yaml"/>
<node pkg="lanelet2_map_preprocessor" exec="transform_maps" name="transform_maps" output="screen">
<param name="llt_map_path" value="$(var llt_map_path)"/>
<param name="pcd_map_path" value="$(var pcd_map_path)"/>
<param name="llt_output_path" value="$(var llt_output_path)"/>
<param name="pcd_output_path" value="$(var pcd_output_path)"/>
- <param name="x" value="$(var x)"/>
- <param name="y" value="$(var y)"/>
- <param name="z" value="$(var z)"/>
- <param name="roll" value="$(var roll)"/>
- <param name="pitch" value="$(var pitch)"/>
- <param name="yaw" value="$(var yaw)"/>
+ <param from="$(var param_file)"/>
</node>
</launch>
diff --git a/map/util/lanelet2_map_preprocessor/src/transform_maps.cpp b/map/util/lanelet2_map_preprocessor/src/transform_maps.cpp
index 987f559be1e8e..2317ddb7d9f95 100644
--- a/map/util/lanelet2_map_preprocessor/src/transform_maps.cpp
+++ b/map/util/lanelet2_map_preprocessor/src/transform_maps.cpp
@@ -107,12 +107,12 @@ int main(int argc, char * argv[])
const auto pcd_map_path = node->declare_parameter<std::string>("pcd_map_path");
const auto llt_output_path = node->declare_parameter<std::string>("llt_output_path");
const auto pcd_output_path = node->declare_parameter<std::string>("pcd_output_path");
- const auto x = node->declare_parameter<double>("x", 0.0);
- const auto y = node->declare_parameter<double>("y", 0.0);
- const auto z = node->declare_parameter<double>("z", 0.0);
- const auto roll = node->declare_parameter<double>("roll", 0.0);
- const auto pitch = node->declare_parameter<double>("pitch", 0.0);
- const auto yaw = node->declare_parameter<double>("yaw", 0.0);
+ const auto x = node->declare_parameter<double>("x");
+ const auto y = node->declare_parameter<double>("y");
+ const auto z = node->declare_parameter<double>("z");
+ const auto roll = node->declare_parameter<double>("roll");
+ const auto pitch = node->declare_parameter<double>("pitch");
+ const auto yaw = node->declare_parameter<double>("yaw");
std::cout << "transforming maps with following parameters" << std::endl
<< "x " << x << std::endl
From 1f937490771511051a490cdbc7b2291abf0edc3a Mon Sep 17 00:00:00 2001
From: Motsu-san <masahiro.sakamoto@tier4.jp>
Date: Mon, 29 Jan 2024 21:42:57 +0900
Subject: [PATCH 2/5] refactor: Create JSON Schema file of transform_maps
Signed-off-by: Motsu-san <masahiro.sakamoto@tier4.jp>
---
.../schema/transform_maps.schema.json | 86 +++++++++++++++++++
1 file changed, 86 insertions(+)
create mode 100644 map/util/lanelet2_map_preprocessor/schema/transform_maps.schema.json
diff --git a/map/util/lanelet2_map_preprocessor/schema/transform_maps.schema.json b/map/util/lanelet2_map_preprocessor/schema/transform_maps.schema.json
new file mode 100644
index 0000000000000..4c86e8a72c110
--- /dev/null
+++ b/map/util/lanelet2_map_preprocessor/schema/transform_maps.schema.json
@@ -0,0 +1,86 @@
+{
+ "$schema": "http://json-schema.org/draft-07/schema#",
+ "title": "Parameters for Transforming Maps",
+ "type": "object",
+ "definitions": {
+ "transform_maps": {
+ "type": "object",
+ "properties": {
+ "llt_map_path": {
+ "type": "string",
+ "description": "Path pointing to the input lanelet2 file",
+ "default": ""
+ },
+ "pcd_map_path": {
+ "type": "string",
+ "description": "Path pointing to the input point cloud file",
+ "default": ""
+ },
+ "llt_output_path": {
+ "type": "string",
+ "description": "Path pointing to the output lanelet2 file",
+ "default": ""
+ },
+ "pcd_output_path": {
+ "type": "string",
+ "description": "Path pointing to the output point cloud file",
+ "default": ""
+ },
+ "x": {
+ "type": "number",
+ "default": 0.0,
+ "description": "x factor of Translation vector for transforming maps [m]"
+ },
+ "y": {
+ "type": "number",
+ "default": 0.0,
+ "description": "y factor of Translation vector for transforming maps [m]"
+ },
+ "z": {
+ "type": "number",
+ "default": 0.0,
+ "description": "z factor of Translation vector for transforming maps [m]"
+ },
+ "roll": {
+ "type": "number",
+ "default": 0.0,
+ "description": "roll factor of Rotation vector for transforming maps [rad]"
+ },
+ "pitch": {
+ "type": "number",
+ "default": 0.0,
+ "description": "pitch factor of Rotation vector for transforming maps [rad]"
+ },
+ "yaw": {
+ "type": "number",
+ "default": 0.0,
+ "description": "yaw factor of Rotation vector for transforming maps [rad]"
+ }
+ },
+ "required": [
+ "x",
+ "y",
+ "z",
+ "roll",
+ "pitch",
+ "yaw"
+ ]
+ }
+ },
+ "properties": {
+ "/**": {
+ "type": "object",
+ "properties": {
+ "ros__parameters": {
+ "$ref": "#/definitions/transform_maps"
+ }
+ },
+ "required": [
+ "ros__parameters"
+ ]
+ }
+ },
+ "required": [
+ "/**"
+ ]
+}
From 272380d98aee7b0169206f76db7d315cbc7126a7 Mon Sep 17 00:00:00 2001
From: Motsu-san <masahiro.sakamoto@tier4.jp>
Date: Thu, 1 Feb 2024 17:08:08 +0900
Subject: [PATCH 3/5] refactor: Replace .launch path parameters to .yaml ones
Signed-off-by: Motsu-san <masahiro.sakamoto@tier4.jp>
---
.../config/transform_maps.param.yaml | 4 ++++
.../launch/transform_maps.launch.xml | 12 +-----------
2 files changed, 5 insertions(+), 11 deletions(-)
diff --git a/map/util/lanelet2_map_preprocessor/config/transform_maps.param.yaml b/map/util/lanelet2_map_preprocessor/config/transform_maps.param.yaml
index 04ef7ad2cccd1..548c28055c834 100644
--- a/map/util/lanelet2_map_preprocessor/config/transform_maps.param.yaml
+++ b/map/util/lanelet2_map_preprocessor/config/transform_maps.param.yaml
@@ -1,5 +1,9 @@
/**:
ros__parameters:
+ llt_map_path: $(var llt_map_path)
+ pcd_map_path: $(var pcd_map_path)
+ llt_output_path: $(var llt_output_path)
+ pcd_output_path: $(var pcd_output_path)
x: 0.0
y: 0.0
z: 0.0
diff --git a/map/util/lanelet2_map_preprocessor/launch/transform_maps.launch.xml b/map/util/lanelet2_map_preprocessor/launch/transform_maps.launch.xml
index c48f54de2f323..950593771878c 100644
--- a/map/util/lanelet2_map_preprocessor/launch/transform_maps.launch.xml
+++ b/map/util/lanelet2_map_preprocessor/launch/transform_maps.launch.xml
@@ -1,16 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<launch>
- <arg name="llt_map_path" default=""/>
- <arg name="pcd_map_path" default=""/>
- <arg name="llt_output_path" default=""/>
- <arg name="pcd_output_path" default=""/>
- <arg name="param_file" default="$(find-pkg-share lanelet2_map_preprocessor)/config/transform_maps.param.yaml"/>
-
<node pkg="lanelet2_map_preprocessor" exec="transform_maps" name="transform_maps" output="screen">
- <param name="llt_map_path" value="$(var llt_map_path)"/>
- <param name="pcd_map_path" value="$(var pcd_map_path)"/>
- <param name="llt_output_path" value="$(var llt_output_path)"/>
- <param name="pcd_output_path" value="$(var pcd_output_path)"/>
- <param from="$(var param_file)"/>
+ <param from="$(find-pkg-share lanelet2_map_preprocessor)/config/transform_maps.param.yaml" allow_substs="true"/>
</node>
</launch>
From fbef4e13cfa2e6e80f100d622b5f293f970305ff Mon Sep 17 00:00:00 2001
From: Motsu-san <masahiro.sakamoto@tier4.jp>
Date: Fri, 2 Feb 2024 20:37:34 +0900
Subject: [PATCH 4/5] refactor: Create .yaml file for default parameters of
fix_z_value_by_pcd.launch.xml
Signed-off-by: Motsu-san <masahiro.sakamoto@tier4.jp>
---
.../config/fix_z_value_by_pcd.param.yaml | 5 +++++
.../launch/fix_z_value_by_pcd.launch.xml | 8 +-------
2 files changed, 6 insertions(+), 7 deletions(-)
create mode 100644 map/util/lanelet2_map_preprocessor/config/fix_z_value_by_pcd.param.yaml
diff --git a/map/util/lanelet2_map_preprocessor/config/fix_z_value_by_pcd.param.yaml b/map/util/lanelet2_map_preprocessor/config/fix_z_value_by_pcd.param.yaml
new file mode 100644
index 0000000000000..de86ef7936d74
--- /dev/null
+++ b/map/util/lanelet2_map_preprocessor/config/fix_z_value_by_pcd.param.yaml
@@ -0,0 +1,5 @@
+/**:
+ ros__parameters:
+ llt_map_path: $(var llt_map_path)
+ pcd_map_path: $(var pcd_map_path)
+ llt_output_path: $(var llt_output_path)
diff --git a/map/util/lanelet2_map_preprocessor/launch/fix_z_value_by_pcd.launch.xml b/map/util/lanelet2_map_preprocessor/launch/fix_z_value_by_pcd.launch.xml
index 82021ff25d240..5b2aa2e425184 100644
--- a/map/util/lanelet2_map_preprocessor/launch/fix_z_value_by_pcd.launch.xml
+++ b/map/util/lanelet2_map_preprocessor/launch/fix_z_value_by_pcd.launch.xml
@@ -1,12 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<launch>
- <arg name="llt_map_path" default=""/>
- <arg name="pcd_map_path" default=""/>
- <arg name="llt_output_path" default=""/>
-
<node pkg="lanelet2_map_preprocessor" exec="fix_z_value_by_pcd" name="fix_z_value_by_pcd" output="screen">
- <param name="llt_map_path" value="$(var llt_map_path)"/>
- <param name="pcd_map_path" value="$(var pcd_map_path)"/>
- <param name="llt_output_path" value="$(var llt_output_path)"/>
+ <param from="$(find-pkg-share lanelet2_map_preprocessor)/config/fix_z_value_by_pcd.param.yaml" allow_substs="true"/>
</node>
</launch>
From 5a710ccef60841c7106a71550da2feb974fcbb7a Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
<66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Wed, 14 Feb 2024 07:26:40 +0000
Subject: [PATCH 5/5] style(pre-commit): autofix
---
.../schema/transform_maps.schema.json | 17 +++--------------
1 file changed, 3 insertions(+), 14 deletions(-)
diff --git a/map/util/lanelet2_map_preprocessor/schema/transform_maps.schema.json b/map/util/lanelet2_map_preprocessor/schema/transform_maps.schema.json
index 4c86e8a72c110..78fb3952d44ce 100644
--- a/map/util/lanelet2_map_preprocessor/schema/transform_maps.schema.json
+++ b/map/util/lanelet2_map_preprocessor/schema/transform_maps.schema.json
@@ -57,14 +57,7 @@
"description": "yaw factor of Rotation vector for transforming maps [rad]"
}
},
- "required": [
- "x",
- "y",
- "z",
- "roll",
- "pitch",
- "yaw"
- ]
+ "required": ["x", "y", "z", "roll", "pitch", "yaw"]
}
},
"properties": {
@@ -75,12 +68,8 @@
"$ref": "#/definitions/transform_maps"
}
},
- "required": [
- "ros__parameters"
- ]
+ "required": ["ros__parameters"]
}
},
- "required": [
- "/**"
- ]
+ "required": ["/**"]
}