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feat(map): add launch_pointcloud_map_loader #6290

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feat(map): add launch_pointcloud_map_loader #6290

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5 changes: 4 additions & 1 deletion launch/tier4_map_launch/launch/map.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -17,11 +17,14 @@
<let name="container_type" value="component_container" unless="$(var use_multithread)"/>
<let name="container_type" value="component_container_mt" if="$(var use_multithread)"/>

<!-- whether use pointcloud map -->
<arg name="launch_pointcloud_map_loader" default="true" description="launch pointcloud map loader"/>

<group>
<push-ros-namespace namespace="map"/>

<node_container pkg="rclcpp_components" exec="$(var container_type)" name="map_container" namespace="" output="screen">
<composable_node pkg="map_loader" plugin="PointCloudMapLoaderNode" name="pointcloud_map_loader">
<composable_node pkg="map_loader" plugin="PointCloudMapLoaderNode" name="pointcloud_map_loader" if="$(var launch_pointcloud_map_loader)">
<param from="$(var pointcloud_map_loader_param_path)"/>
<param name="pcd_paths_or_directory" value="[$(var pointcloud_map_path)]"/>
<param name="pcd_metadata_path" value="$(var pointcloud_map_metadata_path)"/>
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5 changes: 3 additions & 2 deletions map/map_height_fitter/src/map_height_fitter.cpp
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Expand Up @@ -72,8 +72,9 @@ MapHeightFitter::Impl::Impl(rclcpp::Node * node) : tf2_listener_(tf2_buffer_), n

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

params_map_loader_->get_parameters({enable_partial_load}, callback);
}
}

void MapHeightFitter::Impl::on_map(const sensor_msgs::msg::PointCloud2::ConstSharedPtr msg)
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