Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

feat: change pointcloud preprocess output from base_link to sensor_frame #90

Merged
merged 3 commits into from
Feb 26, 2024
Merged

feat: change pointcloud preprocess output from base_link to sensor_frame #90

Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
47e2b8c
feat: edn
YoshiRi Feb 22, 2024
4a53f51
fix: suppress spell-check
YoshiRi Feb 22, 2024
3471b3e
style(pre-commit): autofix
pre-commit-ci[bot] Feb 22, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
9 changes: 9 additions & 0 deletions common_sensor_launch/launch/nebula_node_container.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -188,6 +188,13 @@ def create_parameter_dict(*args):
)
)

# Ring Outlier Filter is the last component in the pipeline, so control the output frame here
if LaunchConfiguration("output_as_sensor_frame").perform(context):
ring_outlier_filter_parameters = {"output_frame": LaunchConfiguration("frame_id")}
else:
ring_outlier_filter_parameters = {
"output_frame": ""
} # keep the output frame as the input frame
nodes.append(
ComposableNode(
package="pointcloud_preprocessor",
Expand All @@ -197,6 +204,7 @@ def create_parameter_dict(*args):
("input", "rectified/pointcloud_ex"),
("output", "pointcloud"),
],
parameters=[ring_outlier_filter_parameters],
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
)
)
Expand Down Expand Up @@ -283,6 +291,7 @@ def add_launch_arg(name: str, default_value=None, description=None):
add_launch_arg("use_multithread", "False", "use multithread")
add_launch_arg("use_intra_process", "False", "use ROS 2 component container communication")
add_launch_arg("lidar_container_name", "nebula_node_container")
add_launch_arg("output_as_sensor_frame", "True", "output final pointcloud in sensor frame")

set_container_executable = SetLaunchConfiguration(
"container_executable",
Expand Down
Loading