Merge remote-tracking branch 'origin/main' into humble-release-0.41.0

autowarefoundation · Feb 12, 2025 · 7dc1694 · 7dc1694
2 parents 8d50074 + 1042528
commit 7dc1694
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diff --git a/common_sensor_launch/CHANGELOG.rst b/common_sensor_launch/CHANGELOG.rst
@@ -2,6 +2,13 @@
 Changelog for package common_sensor_launch
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.41.0 (2025-02-12)
+-------------------
+* fix: add `udp_only` (`#109 <https://github.com/autowarefoundation/sample_sensor_kit_launch/issues/109>`_)
+  Added udp_only
+* feat(common_sensor_launch): rename velodyne_monitor to autoware_velodyne_monitor (`#119 <https://github.com/autowarefoundation/sample_sensor_kit_launch/issues/119>`_)
+* Contributors: Ryohsuke Mitsudome, SakodaShintaro
+
 0.40.0 (2025-01-17)
 -------------------
 * Merge branch 'main' into release-0.40.0

diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py
@@ -135,6 +135,7 @@ def create_parameter_dict(*args):
                         "rotation_speed",
                         "packet_mtu_size",
                         "setup_sensor",
+                        "udp_only",
                     ),
                 },
             ],
@@ -300,6 +301,7 @@ def add_launch_arg(name: str, default_value=None, description=None):
         ),
         description="path to parameter file of ring outlier filter node",
     )
+    add_launch_arg("udp_only", "False", "use UDP only")
 
     set_container_executable = SetLaunchConfiguration(
         "container_executable",

diff --git a/common_sensor_launch/launch/robosense_Bpearl.launch.xml b/common_sensor_launch/launch/robosense_Bpearl.launch.xml
@@ -15,6 +15,7 @@
   <arg name="cloud_max_angle" default="360"/>
   <arg name="vehicle_mirror_param_file"/>
   <arg name="container_name" default="robosense_node_container"/>
+  <arg name="udp_only" default="false"/>
 
   <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
     <arg name="launch_driver" value="$(var launch_driver)"/>
@@ -33,5 +34,6 @@
     <arg name="use_intra_process" value="true"/>
     <arg name="use_multithread" value="false"/>
     <arg name="container_name" value="$(var container_name)"/>
+    <arg name="udp_only" value="$(var udp_only)"/>
   </include>
 </launch>
diff --git a/common_sensor_launch/launch/robosense_Helios.launch.xml b/common_sensor_launch/launch/robosense_Helios.launch.xml
@@ -15,6 +15,7 @@
   <arg name="cloud_max_angle" default="360"/>
   <arg name="vehicle_mirror_param_file"/>
   <arg name="container_name" default="robosense_node_container"/>
+  <arg name="udp_only" default="false"/>
 
   <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
     <arg name="launch_driver" value="$(var launch_driver)"/>
@@ -33,5 +34,6 @@
     <arg name="use_intra_process" value="true"/>
     <arg name="use_multithread" value="false"/>
     <arg name="container_name" value="$(var container_name)"/>
+    <arg name="udp_only" value="$(var udp_only)"/>
   </include>
 </launch>
diff --git a/common_sensor_launch/launch/velodyne_VLP16.launch.xml b/common_sensor_launch/launch/velodyne_VLP16.launch.xml
@@ -14,6 +14,7 @@
   <arg name="cloud_max_angle" default="360"/>
   <arg name="vehicle_mirror_param_file"/>
   <arg name="container_name" default="velodyne_node_container"/>
+  <arg name="udp_only" default="false"/>
 
   <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
     <arg name="launch_driver" value="$(var launch_driver)"/>
@@ -32,10 +33,11 @@
     <arg name="use_intra_process" value="true"/>
     <arg name="use_multithread" value="false"/>
     <arg name="container_name" value="$(var container_name)"/>
+    <arg name="udp_only" value="$(var udp_only)"/>
   </include>
 
   <!-- Velodyne Monitor -->
-  <include file="$(find-pkg-share velodyne_monitor)/launch/velodyne_monitor.launch.xml" if="$(var launch_driver)">
+  <include file="$(find-pkg-share autoware_velodyne_monitor)/launch/velodyne_monitor.launch.xml" if="$(var launch_driver)">
     <arg name="ip_address" value="$(var sensor_ip)"/>
   </include>
 </launch>
diff --git a/common_sensor_launch/launch/velodyne_VLS128.launch.xml b/common_sensor_launch/launch/velodyne_VLS128.launch.xml
@@ -14,6 +14,7 @@
   <arg name="cloud_max_angle" default="360"/>
   <arg name="vehicle_mirror_param_file"/>
   <arg name="container_name" default="velodyne_node_container"/>
+  <arg name="udp_only" default="false"/>
 
   <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
     <arg name="launch_driver" value="$(var launch_driver)"/>
@@ -32,10 +33,11 @@
     <arg name="use_intra_process" value="true"/>
     <arg name="use_multithread" value="true"/>
     <arg name="container_name" value="$(var container_name)"/>
+    <arg name="udp_only" value="$(var udp_only)"/>
   </include>
 
   <!-- Velodyne Monitor -->
-  <include file="$(find-pkg-share velodyne_monitor)/launch/velodyne_monitor.launch.xml" if="$(var launch_driver)">
+  <include file="$(find-pkg-share autoware_velodyne_monitor)/launch/velodyne_monitor.launch.xml" if="$(var launch_driver)">
     <arg name="ip_address" value="$(var sensor_ip)"/>
   </include>
 </launch>
diff --git a/common_sensor_launch/package.xml b/common_sensor_launch/package.xml
@@ -2,16 +2,16 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>common_sensor_launch</name>
-  <version>0.40.0</version>
+  <version>0.41.0</version>
   <description>The common_sensor_launch package</description>
   <maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
+  <exec_depend>autoware_velodyne_monitor</exec_depend>
   <exec_depend>nebula_sensor_driver</exec_depend>
-  <exec_depend>velodyne_monitor</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>

diff --git a/sample_sensor_kit_description/CHANGELOG.rst b/sample_sensor_kit_description/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package sample_sensor_kit_description
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.41.0 (2025-02-12)
+-------------------
+
 0.40.0 (2025-01-17)
 -------------------
 

diff --git a/sample_sensor_kit_description/package.xml b/sample_sensor_kit_description/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>sample_sensor_kit_description</name>
-  <version>0.40.0</version>
+  <version>0.41.0</version>
   <description>The sample_sensor_kit_description package</description>
   <maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>

diff --git a/sample_sensor_kit_launch/CHANGELOG.rst b/sample_sensor_kit_launch/CHANGELOG.rst
@@ -2,6 +2,17 @@
 Changelog for package sample_sensor_kit_launch
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.41.0 (2025-02-12)
+-------------------
+* feat(sample_sensor_kit_launch): concatenate node load from parameter file (`#108 <https://github.com/autowarefoundation/sample_sensor_kit_launch/issues/108>`_)
+  * feat: concatenate node load from parameter file
+  * chore: update params
+  * chore: add use_naive_approach
+  * chore: remove space
+  * feat: add matching strategy params
+  ---------
+* Contributors: Yi-Hsiang Fang (Vivid)
+
 0.40.0 (2025-01-17)
 -------------------
 * Merge branch 'main' into release-0.40.0

diff --git a/sample_sensor_kit_launch/config/concatenate_and_time_sync_node.param.yaml b/sample_sensor_kit_launch/config/concatenate_and_time_sync_node.param.yaml
@@ -0,0 +1,23 @@
+/**:
+  ros__parameters:
+    debug_mode: false
+    has_static_tf_only: false
+    rosbag_length: 10.0
+    maximum_queue_size: 5
+    timeout_sec: 0.2
+    is_motion_compensated: true
+    publish_synchronized_pointcloud: true
+    keep_input_frame_in_synchronized_pointcloud: true
+    publish_previous_but_late_pointcloud: false
+    synchronized_pointcloud_postfix: pointcloud
+    input_twist_topic_type: twist
+    input_topics: [
+                    "/sensing/lidar/right/pointcloud_before_sync",
+                    "/sensing/lidar/top/pointcloud_before_sync",
+                    "/sensing/lidar/left/pointcloud_before_sync",
+                ]
+    output_frame: base_link
+    matching_strategy:
+      type: advanced
+      lidar_timestamp_offsets: [0.0, 0.015, 0.016]
+      lidar_timestamp_noise_window: [0.01, 0.01, 0.01]
diff --git a/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py b/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py
@@ -12,7 +12,9 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import os
 
+from ament_index_python.packages import get_package_share_directory
 import launch
 from launch.actions import DeclareLaunchArgument
 from launch.actions import OpaqueFunction
@@ -22,9 +24,18 @@
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import LoadComposableNodes
 from launch_ros.descriptions import ComposableNode
+from launch_ros.parameter_descriptions import ParameterFile
 
 
 def launch_setup(context, *args, **kwargs):
+    # concatenate node parameters
+    concatenate_and_time_sync_node_param = ParameterFile(
+        param_file=LaunchConfiguration("concatenate_and_time_sync_node_param_path").perform(
+            context
+        ),
+        allow_substs=True,
+    )
+
     # set concat filter as a component
     concat_component = ComposableNode(
         package="autoware_pointcloud_preprocessor",
@@ -34,18 +45,7 @@ def launch_setup(context, *args, **kwargs):
             ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
             ("output", "concatenated/pointcloud"),
         ],
-        parameters=[
-            {
-                "input_topics": [
-                    "/sensing/lidar/top/pointcloud_before_sync",
-                    "/sensing/lidar/left/pointcloud_before_sync",
-                    "/sensing/lidar/right/pointcloud_before_sync",
-                ],
-                "output_frame": LaunchConfiguration("base_frame"),
-                "input_twist_topic_type": "twist",
-                "publish_synchronized_pointcloud": True,
-            }
-        ],
+        parameters=[concatenate_and_time_sync_node_param],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )
 
@@ -65,10 +65,20 @@ def generate_launch_description():
     def add_launch_arg(name: str, default_value=None):
         launch_arguments.append(DeclareLaunchArgument(name, default_value=default_value))
 
+    sample_sensor_kit_launch_share_dir = get_package_share_directory("sample_sensor_kit_launch")
+
     add_launch_arg("base_frame", "base_link")
     add_launch_arg("use_multithread", "False")
     add_launch_arg("use_intra_process", "False")
     add_launch_arg("pointcloud_container_name", "pointcloud_container")
+    add_launch_arg(
+        "concatenate_and_time_sync_node_param_path",
+        os.path.join(
+            sample_sensor_kit_launch_share_dir,
+            "config",
+            "concatenate_and_time_sync_node.param.yaml",
+        ),
+    )
 
     set_container_executable = SetLaunchConfiguration(
         "container_executable",

diff --git a/sample_sensor_kit_launch/package.xml b/sample_sensor_kit_launch/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>sample_sensor_kit_launch</name>
-  <version>0.40.0</version>
+  <version>0.41.0</version>
   <description>The sample_sensor_kit_launch package</description>
   <maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>