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

mitsudome-r · mitsudome-r · commit 6e5507aa8eb1 · 2025-02-12T20:34:23.000+09:00
diff --git a/awsim_sensor_kit_description/CHANGELOG.rst b/awsim_sensor_kit_description/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package awsim_sensor_kit_description
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.41.0 (2025-02-12)
+-------------------
+
 0.39.0 (2024-12-09)
 -------------------
 * fixed to use xacro.load_yaml (`#6 <https://github.com/tier4/awsim_sensor_kit_launch/issues/6>`_)
diff --git a/awsim_sensor_kit_description/package.xml b/awsim_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>awsim_sensor_kit_description</name>
-  <version>0.39.0</version>
+  <version>0.41.0</version>
   <description>The awsim_sensor_kit_description package</description>
   <maintainer email="piotr.jaroszek@robotec.ai">Piotr Jaroszek</maintainer>
   <license>Apache License 2.0</license>
diff --git a/awsim_sensor_kit_launch/CHANGELOG.rst b/awsim_sensor_kit_launch/CHANGELOG.rst
@@ -2,6 +2,27 @@
 Changelog for package awsim_sensor_kit_launch
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.41.0 (2025-02-12)
+-------------------
+* Merge remote-tracking branch 'origin/main' into humble
+* Merge pull request `#26 <https://github.com/tier4/awsim_sensor_kit_launch/issues/26>`_ from SakodaShintaro/fix/add_udp_only
+  fix: add `udp_only`
+* Merge pull request `#25 <https://github.com/tier4/awsim_sensor_kit_launch/issues/25>`_ from vividf/feature/tier4_awsim_load_concatenate
+  feat(awsim_sensor_kit_launch): awsim load concatenate node parameters
+* chore: increase window size
+* chore: add mathcing strategy
+* chore: add use_naive_approach
+* fix(awsim_sensor_kit_launch): add autoware prefix to vehicle_velocity_converter (`#27 <https://github.com/tier4/awsim_sensor_kit_launch/issues/27>`_)
+  * add autoware prefix
+  * add dependency autoware_vehicle_velocity_converter
+  ---------
+* chore: update params
+* Added `udp_only`
+* chore: fix timeout sec
+* chore: add space
+* feat: awsim load comcatenate parameter
+* Contributors: Masaki Baba, Ryohsuke Mitsudome, SakodaShintaro, Shintaro Sakoda, vividf
+
 0.39.0 (2024-12-09)
 -------------------
 * Merge pull request `#24 <https://github.com/tier4/awsim_sensor_kit_launch/issues/24>`_ from SakodaShintaro/fix/restore_timeout_sec
diff --git a/awsim_sensor_kit_launch/config/concatenate_and_time_sync_node.param.yaml b/awsim_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: 0.01
+    is_motion_compensated: false
+    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", # Fill this after using the right point cloud
+                    "/sensing/lidar/top/pointcloud_before_sync", # 0.05
+                    "/sensing/lidar/left/pointcloud_before_sync", # Fill this after using the left point cloud
+                ]
+    output_frame: base_link
+    matching_strategy:
+          type: advanced
+          lidar_timestamp_offsets: [0.0, 0.0, 0.0]
+          lidar_timestamp_noise_window: [0.02, 0.02, 0.02]
diff --git a/awsim_sensor_kit_launch/launch/lidar.launch.xml b/awsim_sensor_kit_launch/launch/lidar.launch.xml
@@ -21,6 +21,7 @@
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="pointcloud_container"/>
+        <arg name="udp_only" value="true"/>
       </include>
     </group>
 
@@ -38,6 +39,7 @@
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="pointcloud_container"/>
+        <arg name="udp_only" value="true"/>
       </include>
     </group>
 
@@ -55,6 +57,7 @@
         <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
         <arg name="container_name" value="pointcloud_container"/>
+        <arg name="udp_only" value="true"/>
       </include>
     </group>
 
diff --git a/awsim_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py b/awsim_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 +24,16 @@
 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",
@@ -37,19 +46,7 @@ def launch_setup(context, *args, **kwargs):
             ),
             ("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,
-                "timeout_sec": 0.01,
-            }
-        ],
+        parameters=[concatenate_and_time_sync_node_param],
         extra_arguments=[
             {"use_intra_process_comms": LaunchConfiguration("use_intra_process")}
         ],
@@ -73,10 +70,18 @@ def add_launch_arg(name: str, default_value=None):
             DeclareLaunchArgument(name, default_value=default_value)
         )
 
-    add_launch_arg("base_frame", "base_link")
+    awsim_sensor_kit_launch_share_dir = get_package_share_directory("awsim_sensor_kit_launch")
     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(
+            awsim_sensor_kit_launch_share_dir,
+            "config",
+            "concatenate_and_time_sync_node.param.yaml",
+        ),
+    )
 
     set_container_executable = SetLaunchConfiguration(
         "container_executable",
diff --git a/awsim_sensor_kit_launch/launch/sensing.launch.xml b/awsim_sensor_kit_launch/launch/sensing.launch.xml
@@ -23,7 +23,7 @@
     <!-- GNSS Drives in not needed because the AWSIM already publishes both gnss pose and pose with covariance topics -->
 
     <!-- Vehicle Velocity Converter  -->
-    <include file="$(find-pkg-share vehicle_velocity_converter)/launch/vehicle_velocity_converter.launch.xml">
+    <include file="$(find-pkg-share autoware_vehicle_velocity_converter)/launch/vehicle_velocity_converter.launch.xml">
       <arg name="input_vehicle_velocity_topic" value="/vehicle/status/velocity_status"/>
       <arg name="output_twist_with_covariance" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
     </include>
diff --git a/awsim_sensor_kit_launch/package.xml b/awsim_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>awsim_sensor_kit_launch</name>
-  <version>0.39.0</version>
+  <version>0.41.0</version>
   <description>The awsim_sensor_kit_launch package</description>
   <maintainer email="piotr.jaroszek@robotec.ai">Piotr Jaroszek</maintainer>
   <license>Apache License 2.0</license>
@@ -11,6 +11,7 @@
 
   <exec_depend>autoware_gnss_poser</exec_depend>
   <exec_depend>autoware_pointcloud_preprocessor</exec_depend>
+  <exec_depend>autoware_vehicle_velocity_converter</exec_depend>
   <exec_depend>common_sensor_launch</exec_depend>
   <exec_depend>tamagawa_imu_driver</exec_depend>
   <exec_depend>topic_tools</exec_depend>
