remove ring_outlier_filter

tier4 · Feb 5, 2025 · ed534d8 · ed534d8
1 parent 2cb9cbe
commit ed534d8
Showing 1 changed file with 0 additions and 36 deletions.
diff --git a/aip_x2_gen2_launch/launch/nebula_node_container.launch.py b/aip_x2_gen2_launch/launch/nebula_node_container.launch.py
@@ -162,30 +162,6 @@ def str2vector(string):
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )
 
-    ring_outlier_filter_node_param = ParameterFile(
-        param_file=LaunchConfiguration("ring_outlier_filter_node_param_file").perform(context),
-        allow_substs=True,
-    )
-
-    # Ring Outlier Filter is the last component in the pipeline, so control the output frame here
-    if LaunchConfiguration("output_as_sensor_frame").perform(context).lower() == "true":
-        ring_outlier_output_frame = {"output_frame": LaunchConfiguration("frame_id")}
-    else:
-        # keep the output frame as the input frame
-        ring_outlier_output_frame = {"output_frame": ""}
-
-    ring_outlier_filter_component = ComposableNode(
-        package="autoware_pointcloud_preprocessor",
-        plugin="autoware::pointcloud_preprocessor::RingOutlierFilterComponent",
-        name="ring_outlier_filter",
-        remappings=[
-            ("input", "rectified/pointcloud_ex"),
-            ("output", "pointcloud_before_sync"),
-        ],
-        parameters=[ring_outlier_filter_node_param, ring_outlier_output_frame],
-        extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
-    )
-
     dual_return_filter_component = ComposableNode(
         package="autoware_pointcloud_preprocessor",
         plugin="autoware::pointcloud_preprocessor::DualReturnOutlierFilterComponent",
@@ -240,16 +216,9 @@ def str2vector(string):
         ],
     )
 
-    ring_outlier_filter_loader = LoadComposableNodes(
-        composable_node_descriptions=[ring_outlier_filter_component],
-        target_container=container,
-        condition=LaunchConfigurationNotEquals("return_mode", "LastStrongest"),
-    )
-
     dual_return_filter_loader = LoadComposableNodes(
         composable_node_descriptions=[dual_return_filter_component],
         target_container=container,
-        condition=LaunchConfigurationEquals("return_mode", "LastStrongest"),
     )
 
     blockage_diag_loader = LoadComposableNodes(
@@ -260,7 +229,6 @@ def str2vector(string):
 
     return [
         container,
-        ring_outlier_filter_loader,
         dual_return_filter_loader,
         blockage_diag_loader,
     ]
@@ -312,10 +280,6 @@ def add_launch_arg(name: str, default_value=None, description=None):
         "blockage_diagnostics_param_file",
         [FindPackageShare("common_sensor_launch"), "/config/blockage_diagnostics.param.yaml"],
     )
-    add_launch_arg(
-        "ring_outlier_filter_node_param_file",
-        [FindPackageShare("common_sensor_launch"), "/config/ring_outlier_filter_node.param.yaml"],
-    )
     add_launch_arg(
         "distortion_corrector_node_param_file",
         [FindPackageShare("common_sensor_launch"), "/config/distortion_corrector_node.param.yaml"],