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chore(ndt scan matcher): rename config path #6333

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merged 6 commits into from
Feb 7, 2024
Merged

chore(ndt scan matcher): rename config path #6333

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caedccd
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
b7c8f1a
chore(ndt_scan_matcher): rename config path
YamatoAndo Feb 6, 2024
b8e779d
rename path
YamatoAndo Feb 6, 2024
52a94ff
Merge branch 'main' into chore/ndt_scan_matcher/rename_config_path
YamatoAndo Feb 6, 2024
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10 changes: 6 additions & 4 deletions launch/tier4_localization_launch/launch/localization.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -4,11 +4,13 @@
<arg name="twist_source"/>
<arg name="system_run_mode"/>

<!-- parameter paths for ndt -->
<arg name="ndt_scan_matcher/pointcloud_preprocessor/crop_box_filter_measurement_range_param_path"/>
<arg name="ndt_scan_matcher/pointcloud_preprocessor/voxel_grid_downsample_filter_param_path"/>
<arg name="ndt_scan_matcher/pointcloud_preprocessor/random_downsample_filter_param_path"/>
<arg name="ndt_scan_matcher/ndt_scan_matcher_param_path"/>

<!-- Parameter files -->
<arg name="crop_box_filter_measurement_range_param_path"/>
<arg name="voxel_grid_downsample_filter_param_path"/>
<arg name="random_downsample_filter_param_path"/>
<arg name="ndt_scan_matcher_param_path"/>
<arg name="localization_error_monitor_param_path"/>
<arg name="ekf_localizer_param_path"/>
<arg name="pose_initializer_param_path"/>
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2 changes: 1 addition & 1 deletion launch/tier4_localization_launch/launch/pose_twist_estimator/ndt_scan_matcher.launch.xml
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Expand Up @@ -12,7 +12,7 @@

<arg name="client_map_loader" value="/map/get_differential_pointcloud_map"/>

<arg name="param_file" value="$(var ndt_scan_matcher_param_path)"/>
<arg name="param_file" value="$(var ndt_scan_matcher/ndt_scan_matcher_param_path)"/>
</include>
</group>
</launch>
6 changes: 3 additions & 3 deletions launch/tier4_localization_launch/launch/util/util.launch.xml
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Expand Up @@ -10,21 +10,21 @@

<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)"/>
<param from="$(var ndt_scan_matcher/pointcloud_preprocessor/crop_box_filter_measurement_range_param_path)"/>
<remap from="input" to="$(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="$(var voxel_grid_downsample_filter_param_path)"/>
<param from="$(var ndt_scan_matcher/pointcloud_preprocessor/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="$(var random_downsample_filter_param_path)"/>
<param from="$(var ndt_scan_matcher/pointcloud_preprocessor/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)"/>
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