From 69f44a097e97f2b6438ee13b8ec81c80145a57d2 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 5 Dec 2024 08:05:12 +0900 Subject: [PATCH 1/4] fix(launch): update package name (#353) Signed-off-by: satoshi-ota --- aip_xx1_gen2_launch/package.xml | 2 +- aip_xx1_launch/package.xml | 2 +- common_sensor_launch/launch/nebula_node_container.launch.py | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/aip_xx1_gen2_launch/package.xml b/aip_xx1_gen2_launch/package.xml index b37d8f0b..d5694bc7 100644 --- a/aip_xx1_gen2_launch/package.xml +++ b/aip_xx1_gen2_launch/package.xml @@ -10,13 +10,13 @@ ament_cmake_auto + autoware_glog_component autoware_gnss_poser autoware_imu_corrector autoware_pointcloud_preprocessor autoware_radar_tracks_msgs_converter autoware_simple_object_merger common_sensor_launch - glog_component pacmod3 ros2_socketcan tamagawa_imu_driver diff --git a/aip_xx1_launch/package.xml b/aip_xx1_launch/package.xml index 0b5b5be9..5d77784a 100644 --- a/aip_xx1_launch/package.xml +++ b/aip_xx1_launch/package.xml @@ -10,11 +10,11 @@ ament_cmake_auto + autoware_glog_component autoware_gnss_poser autoware_imu_corrector autoware_pointcloud_preprocessor common_sensor_launch - glog_component pacmod3 ros2_socketcan tamagawa_imu_driver diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py index 68736b64..e7472f31 100644 --- a/common_sensor_launch/launch/nebula_node_container.launch.py +++ b/common_sensor_launch/launch/nebula_node_container.launch.py @@ -87,7 +87,7 @@ def create_parameter_dict(*args): nodes.append( ComposableNode( - package="glog_component", + package="autoware_glog_component", plugin="GlogComponent", name="glog_component", ) From 605eade3d91a4bb1ac5cbc808faed198bab1107b Mon Sep 17 00:00:00 2001 From: Masaki Baba Date: Fri, 6 Dec 2024 13:15:41 +0900 Subject: [PATCH 2/4] fix(aip_launcher): add autoware prefix to vehicle_velocity_converter (#319) * add autoware prefix Signed-off-by: a-maumau * fix package.xml --------- Signed-off-by: a-maumau --- aip_x1_launch/launch/sensing.launch.xml | 2 +- aip_x1_launch/package.xml | 1 + aip_x2_launch/launch/sensing.launch.xml | 2 +- aip_x2_launch/package.xml | 2 +- aip_xx1_gen2_launch/launch/sensing.launch.xml | 2 +- aip_xx1_gen2_launch/package.xml | 2 +- aip_xx1_launch/launch/sensing.launch.xml | 2 +- aip_xx1_launch/package.xml | 2 +- 8 files changed, 8 insertions(+), 7 deletions(-) diff --git a/aip_x1_launch/launch/sensing.launch.xml b/aip_x1_launch/launch/sensing.launch.xml index 50d56354..d6aab6b7 100644 --- a/aip_x1_launch/launch/sensing.launch.xml +++ b/aip_x1_launch/launch/sensing.launch.xml @@ -25,7 +25,7 @@ - + diff --git a/aip_x1_launch/package.xml b/aip_x1_launch/package.xml index 582fcefb..83d15cbe 100644 --- a/aip_x1_launch/package.xml +++ b/aip_x1_launch/package.xml @@ -17,6 +17,7 @@ autoware_imu_corrector autoware_occupancy_grid_map_outlier_filter autoware_pointcloud_preprocessor + autoware_vehicle_velocity_converter common_sensor_launch individual_params rclcpp_components diff --git a/aip_x2_launch/launch/sensing.launch.xml b/aip_x2_launch/launch/sensing.launch.xml index 274f6334..e3a49057 100644 --- a/aip_x2_launch/launch/sensing.launch.xml +++ b/aip_x2_launch/launch/sensing.launch.xml @@ -30,7 +30,7 @@ - + diff --git a/aip_x2_launch/package.xml b/aip_x2_launch/package.xml index 1bcc5b50..a765544e 100644 --- a/aip_x2_launch/package.xml +++ b/aip_x2_launch/package.xml @@ -14,6 +14,7 @@ autoware_imu_corrector autoware_pointcloud_preprocessor autoware_simple_object_merger + autoware_vehicle_velocity_converter common_sensor_launch dummy_diag_publisher septentrio_gnss_driver @@ -21,7 +22,6 @@ topic_tools ublox_gps usb_cam - vehicle_velocity_converter ament_lint_auto autoware_lint_common diff --git a/aip_xx1_gen2_launch/launch/sensing.launch.xml b/aip_xx1_gen2_launch/launch/sensing.launch.xml index 87b928b2..1f389007 100644 --- a/aip_xx1_gen2_launch/launch/sensing.launch.xml +++ b/aip_xx1_gen2_launch/launch/sensing.launch.xml @@ -39,7 +39,7 @@ - + diff --git a/aip_xx1_gen2_launch/package.xml b/aip_xx1_gen2_launch/package.xml index d5694bc7..0a2e9006 100644 --- a/aip_xx1_gen2_launch/package.xml +++ b/aip_xx1_gen2_launch/package.xml @@ -16,6 +16,7 @@ autoware_pointcloud_preprocessor autoware_radar_tracks_msgs_converter autoware_simple_object_merger + autoware_vehicle_velocity_converter common_sensor_launch pacmod3 ros2_socketcan @@ -23,7 +24,6 @@ topic_tools ublox_gps usb_cam - vehicle_velocity_converter ament_lint_auto autoware_lint_common diff --git a/aip_xx1_launch/launch/sensing.launch.xml b/aip_xx1_launch/launch/sensing.launch.xml index 2128f30a..c2e659a0 100644 --- a/aip_xx1_launch/launch/sensing.launch.xml +++ b/aip_xx1_launch/launch/sensing.launch.xml @@ -36,7 +36,7 @@ - + diff --git a/aip_xx1_launch/package.xml b/aip_xx1_launch/package.xml index 5d77784a..c3b53ed2 100644 --- a/aip_xx1_launch/package.xml +++ b/aip_xx1_launch/package.xml @@ -14,6 +14,7 @@ autoware_gnss_poser autoware_imu_corrector autoware_pointcloud_preprocessor + autoware_vehicle_velocity_converter common_sensor_launch pacmod3 ros2_socketcan @@ -21,7 +22,6 @@ topic_tools ublox_gps usb_cam - vehicle_velocity_converter ament_lint_auto autoware_lint_common From 75b89c62e9bb764f26bd6df4791a4130ca9932ed Mon Sep 17 00:00:00 2001 From: SakodaShintaro Date: Wed, 11 Dec 2024 10:18:43 +0900 Subject: [PATCH 3/4] fix: autoware_glog_component (#354) Fixed autoware_glog_component Signed-off-by: Shintaro Sakoda --- common_sensor_launch/launch/nebula_node_container.launch.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py index e7472f31..946fe7db 100644 --- a/common_sensor_launch/launch/nebula_node_container.launch.py +++ b/common_sensor_launch/launch/nebula_node_container.launch.py @@ -88,7 +88,7 @@ def create_parameter_dict(*args): nodes.append( ComposableNode( package="autoware_glog_component", - plugin="GlogComponent", + plugin="autoware::glog_component::GlogComponent", name="glog_component", ) ) From 6eb32ab79c54e2c0780725cdd04033594b528bae Mon Sep 17 00:00:00 2001 From: Yuxuan Liu <619684051@qq.com> Date: Wed, 11 Dec 2024 16:38:28 +0900 Subject: [PATCH 4/4] fix(spinnaker_launch): upgrade mapping solution (#355) * upgrade mapping solution Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> * feat: add use image transport argument Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> * ci(pre-commit): autofix * fix typo Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> * merge faield Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> * ci(pre-commit): autofix * also remap the compressed topic Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> * ci(pre-commit): autofix --------- Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../launch/spinnaker.launch.py | 28 +++++++++++++++++-- 1 file changed, 26 insertions(+), 2 deletions(-) diff --git a/common_sensor_launch/launch/spinnaker.launch.py b/common_sensor_launch/launch/spinnaker.launch.py index 3848b0db..22f48df2 100644 --- a/common_sensor_launch/launch/spinnaker.launch.py +++ b/common_sensor_launch/launch/spinnaker.launch.py @@ -39,16 +39,38 @@ def load_composable_node_param(param_path): namespace=LaunchConfiguration("spinnaker_namespace"), remappings=[ ( - "camera0/image_raw", + [ + "camera", + LaunchConfiguration("camera_id"), + "/image_raw", + ], + [ + "camera", + LaunchConfiguration("camera_id"), + "/", + LaunchConfiguration("image_topic"), + ], + ), + ( + [ + "camera", + LaunchConfiguration("camera_id"), + "/image_raw/compressed", + ], [ "camera", LaunchConfiguration("camera_id"), "/", LaunchConfiguration("image_topic"), + "/compressed", ], ), ( - "camera0/camera_info", + [ + "camera", + LaunchConfiguration("camera_id"), + "/camera_info", + ], ["camera", LaunchConfiguration("camera_id"), "/camera_info"], ), ], @@ -59,6 +81,7 @@ def load_composable_node_param(param_path): "camera_info_url" ), }, + {"use_image_transport": LaunchConfiguration("use_image_transport")}, ], extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], ), @@ -98,6 +121,7 @@ def add_launch_arg(name: str, default_value=None): add_launch_arg("spinnaker_namespace", "/sensing/camera") add_launch_arg("spinnaker_param_path") add_launch_arg("camera_info_url") + add_launch_arg("use_image_transport", "True") add_launch_arg("use_intra_process", "True") set_camera_info_url_key = SetLaunchConfiguration( "camera_info_url_key",