From e6f33566e576990d024a9b90acf54afdb3322208 Mon Sep 17 00:00:00 2001 From: "Yi-Hsiang Fang (Vivid)" <146902905+vividf@users.noreply.github.com> Date: Tue, 21 Jan 2025 14:26:09 +0900 Subject: [PATCH 1/4] feat(sample_sensor_kit_launch): concatenate node load from parameter file (#108) * feat: concatenate node load from parameter file Signed-off-by: vividf * chore: update params Signed-off-by: vividf * chore: add use_naive_approach Signed-off-by: vividf * chore: remove space Signed-off-by: vividf * feat: add matching strategy params Signed-off-by: vividf --------- Signed-off-by: vividf --- .../concatenate_and_time_sync_node.param.yaml | 23 +++++++++++++ .../launch/pointcloud_preprocessor.launch.py | 34 ++++++++++++------- 2 files changed, 45 insertions(+), 12 deletions(-) create mode 100644 sample_sensor_kit_launch/config/concatenate_and_time_sync_node.param.yaml 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 new file mode 100644 index 00000000..cec253e1 --- /dev/null +++ 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 index c29d74e3..8dbcfc99 100644 --- 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", From f0b6ef48c08885377e18565e56a3820a907d7f76 Mon Sep 17 00:00:00 2001 From: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Date: Sat, 25 Jan 2025 00:56:25 +0900 Subject: [PATCH 2/4] feat(common_sensor_launch): rename velodyne_monitor to autoware_velodyne_monitor (#119) Signed-off-by: Ryohsuke Mitsudome --- common_sensor_launch/launch/velodyne_VLP16.launch.xml | 2 +- common_sensor_launch/launch/velodyne_VLS128.launch.xml | 2 +- common_sensor_launch/package.xml | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/common_sensor_launch/launch/velodyne_VLP16.launch.xml b/common_sensor_launch/launch/velodyne_VLP16.launch.xml index f0fcc075..c4c79716 100644 --- a/common_sensor_launch/launch/velodyne_VLP16.launch.xml +++ b/common_sensor_launch/launch/velodyne_VLP16.launch.xml @@ -35,7 +35,7 @@ - + diff --git a/common_sensor_launch/launch/velodyne_VLS128.launch.xml b/common_sensor_launch/launch/velodyne_VLS128.launch.xml index d2797ac8..2e5df140 100644 --- a/common_sensor_launch/launch/velodyne_VLS128.launch.xml +++ b/common_sensor_launch/launch/velodyne_VLS128.launch.xml @@ -35,7 +35,7 @@ - + diff --git a/common_sensor_launch/package.xml b/common_sensor_launch/package.xml index 2b68beb1..567ad84c 100644 --- a/common_sensor_launch/package.xml +++ b/common_sensor_launch/package.xml @@ -10,8 +10,8 @@ ament_cmake_auto + autoware_velodyne_monitor nebula_sensor_driver - velodyne_monitor ament_lint_auto autoware_lint_common From 8a964caed4f4075b1879482767211469eb660072 Mon Sep 17 00:00:00 2001 From: SakodaShintaro Date: Fri, 7 Feb 2025 09:49:33 +0900 Subject: [PATCH 3/4] fix: add `udp_only` (#109) Added udp_only Signed-off-by: Shintaro Sakoda --- common_sensor_launch/launch/nebula_node_container.launch.py | 2 ++ common_sensor_launch/launch/robosense_Bpearl.launch.xml | 2 ++ common_sensor_launch/launch/robosense_Helios.launch.xml | 2 ++ common_sensor_launch/launch/velodyne_VLP16.launch.xml | 2 ++ common_sensor_launch/launch/velodyne_VLS128.launch.xml | 2 ++ 5 files changed, 10 insertions(+) diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py index 3a7c2b25..7d3da850 100644 --- 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 index 8fa49ef1..e9816d4d 100644 --- a/common_sensor_launch/launch/robosense_Bpearl.launch.xml +++ b/common_sensor_launch/launch/robosense_Bpearl.launch.xml @@ -15,6 +15,7 @@ + @@ -33,5 +34,6 @@ + diff --git a/common_sensor_launch/launch/robosense_Helios.launch.xml b/common_sensor_launch/launch/robosense_Helios.launch.xml index 09addc20..b706911b 100644 --- a/common_sensor_launch/launch/robosense_Helios.launch.xml +++ b/common_sensor_launch/launch/robosense_Helios.launch.xml @@ -15,6 +15,7 @@ + @@ -33,5 +34,6 @@ + diff --git a/common_sensor_launch/launch/velodyne_VLP16.launch.xml b/common_sensor_launch/launch/velodyne_VLP16.launch.xml index c4c79716..72623ae1 100644 --- a/common_sensor_launch/launch/velodyne_VLP16.launch.xml +++ b/common_sensor_launch/launch/velodyne_VLP16.launch.xml @@ -14,6 +14,7 @@ + @@ -32,6 +33,7 @@ + diff --git a/common_sensor_launch/launch/velodyne_VLS128.launch.xml b/common_sensor_launch/launch/velodyne_VLS128.launch.xml index 2e5df140..710a405d 100644 --- a/common_sensor_launch/launch/velodyne_VLS128.launch.xml +++ b/common_sensor_launch/launch/velodyne_VLS128.launch.xml @@ -14,6 +14,7 @@ + @@ -32,6 +33,7 @@ + From 10425283cc1dddd1f05a1478c96d48aad726bfd4 Mon Sep 17 00:00:00 2001 From: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Date: Wed, 12 Feb 2025 20:19:38 +0900 Subject: [PATCH 4/4] chore: bump version to 0.41.0 (#120) Signed-off-by: Ryohsuke Mitsudome --- common_sensor_launch/CHANGELOG.rst | 7 +++++++ common_sensor_launch/package.xml | 2 +- sample_sensor_kit_description/CHANGELOG.rst | 3 +++ sample_sensor_kit_description/package.xml | 2 +- sample_sensor_kit_launch/CHANGELOG.rst | 11 +++++++++++ sample_sensor_kit_launch/package.xml | 2 +- 6 files changed, 24 insertions(+), 3 deletions(-) diff --git a/common_sensor_launch/CHANGELOG.rst b/common_sensor_launch/CHANGELOG.rst index bece2ed8..4f0a6616 100644 --- 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 `_) + Added udp_only +* feat(common_sensor_launch): rename velodyne_monitor to autoware_velodyne_monitor (`#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/package.xml b/common_sensor_launch/package.xml index 567ad84c..235d2296 100644 --- a/common_sensor_launch/package.xml +++ b/common_sensor_launch/package.xml @@ -2,7 +2,7 @@ common_sensor_launch - 0.40.0 + 0.41.0 The common_sensor_launch package Ryohsuke Mitsudome Yukihiro Saito diff --git a/sample_sensor_kit_description/CHANGELOG.rst b/sample_sensor_kit_description/CHANGELOG.rst index 58afb0b7..d63e9d80 100644 --- 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 index 03fedf42..97dc2d80 100644 --- a/sample_sensor_kit_description/package.xml +++ b/sample_sensor_kit_description/package.xml @@ -2,7 +2,7 @@ sample_sensor_kit_description - 0.40.0 + 0.41.0 The sample_sensor_kit_description package Ryohsuke Mitsudome Yukihiro Saito diff --git a/sample_sensor_kit_launch/CHANGELOG.rst b/sample_sensor_kit_launch/CHANGELOG.rst index 1e60f2fd..22423f27 100644 --- 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 `_) + * 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/package.xml b/sample_sensor_kit_launch/package.xml index 74bec4e9..e5a84291 100644 --- a/sample_sensor_kit_launch/package.xml +++ b/sample_sensor_kit_launch/package.xml @@ -2,7 +2,7 @@ sample_sensor_kit_launch - 0.40.0 + 0.41.0 The sample_sensor_kit_launch package Ryohsuke Mitsudome Yukihiro Saito