feat(common_sensor_launch): add distortion corrector param (#247)

* feat: add distortion corrector param Signed-off-by: vividf <[email protected]> * ci(pre-commit): autofix --------- Signed-off-by: vividf <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
tier4 · Jul 3, 2024 · 40322e3 · 40322e3
1 parent e296156
commit 40322e3
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Showing 3 changed files with 11 additions and 1 deletion.
diff --git a/...nfig/blockage_diagnostics_param_file.yaml → ...ch/config/blockage_diagnostics.param.yaml b/...nfig/blockage_diagnostics_param_file.yaml → ...ch/config/blockage_diagnostics.param.yaml
diff --git a/common_sensor_launch/config/distortion_corrector_node.param.yaml b/common_sensor_launch/config/distortion_corrector_node.param.yaml
@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    base_frame: base_link
+    use_imu: true
+    use_3d_distortion_correction: false
diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py
@@ -214,6 +214,7 @@ def create_parameter_dict(*args):
                 ("~/input/pointcloud", "mirror_cropped/pointcloud_ex"),
                 ("~/output/pointcloud", "rectified/pointcloud_ex"),
             ],
+            parameters=[load_composable_node_param("distortion_corrector_node_param_file")],
             extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
         )
     )
@@ -373,7 +374,11 @@ def add_launch_arg(name: str, default_value=None, description=None):
     add_launch_arg("horizontal_resolution", "0.4")
     add_launch_arg(
         "blockage_diagnostics_param_file",
-        [FindPackageShare("common_sensor_launch"), "/config/blockage_diagnostics_param_file.yaml"],
+        [FindPackageShare("common_sensor_launch"), "/config/blockage_diagnostics.param.yaml"],
+    )
+    add_launch_arg(
+        "distortion_corrector_node_param_file",
+        [FindPackageShare("common_sensor_launch"), "/config/distortion_corrector_node.param.yaml"],
     )
 
     set_container_executable = SetLaunchConfiguration(