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feat(update): update lidar pointcloud interface and concatenate point…
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…cloud filter (#215)

* feat: update common nebula container

Signed-off-by: yoshiri <[email protected]>

* feat: fix xx1 pointcloud preprocessor launch

Signed-off-by: yoshiri <[email protected]>

* feat: update x1 launcher to use new interface

Signed-off-by: yoshiri <[email protected]>

* feat: update x2 launcher

Signed-off-by: yoshiri <[email protected]>

* Update aip_x2_launch/launch/pandar_node_container.launch.py

Co-authored-by: badai nguyen  <[email protected]>

* fix: fix x2 topics disconnection

Signed-off-by: yoshiri <[email protected]>

---------

Signed-off-by: yoshiri <[email protected]>
Co-authored-by: badai nguyen <[email protected]>
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@YoshiRi @badai-nguyen
YoshiRi and badai-nguyen authored May 13, 2024
1 parent 101480d commit 4eb3378
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Showing 7 changed files with 52 additions and 22 deletions.
4 changes: 2 additions & 2 deletions aip_x1_launch/launch/new_livox_horizon.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -52,12 +52,12 @@ def get_crop_box_min_range_component(context, livox_frame_id):
name="crop_box_filter_min_range",
remappings=[
("input", "livox/tag_filtered/lidar" if use_tag_filter else "livox/lidar"),
("output", "min_range_cropped/pointcloud"),
("output", "min_range_cropped/pointcloud_before_sync"),
],
parameters=[
{
"input_frame": livox_frame_id,
"output_frame": LaunchConfiguration("base_frame"),
"output_frame": LaunchConfiguration("frame_id"),
"min_x": 0.0,
"max_x": LaunchConfiguration("min_range"),
"min_y": -2.0,
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9 changes: 5 additions & 4 deletions aip_x1_launch/launch/pointcloud_preprocessor.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -36,14 +36,15 @@ def launch_setup(context, *args, **kwargs):
parameters=[
{
"input_topics": [
"/sensing/lidar/top/pointcloud",
"/sensing/lidar/front_left/min_range_cropped/pointcloud",
"/sensing/lidar/front_right/min_range_cropped/pointcloud",
"/sensing/lidar/front_center/min_range_cropped/pointcloud",
"/sensing/lidar/top/pointcloud_before_sync",
"/sensing/lidar/front_left/min_range_cropped/pointcloud_before_sync",
"/sensing/lidar/front_right/min_range_cropped/pointcloud_before_sync",
"/sensing/lidar/front_center/min_range_cropped/pointcloud_before_sync",
],
"output_frame": LaunchConfiguration("base_frame"),
"timeout_sec": 1.0,
"input_twist_topic_type": "twist",
"publish_synchronized_pointcloud": True,
}
],
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
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11 changes: 10 additions & 1 deletion aip_x1_launch/launch/velodyne_node_container.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -121,15 +121,23 @@ 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",
plugin="pointcloud_preprocessor::RingOutlierFilterComponent",
name="ring_outlier_filter",
remappings=[
("input", "rectified/pointcloud_ex"),
("output", "pointcloud"),
("output", "pointcloud_before_sync"),
],
parameters=[ring_outlier_filter_parameters],
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
)
)
Expand Down Expand Up @@ -218,6 +226,7 @@ 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 ROS2 component container communication")
add_launch_arg("output_as_sensor_frame", "True", "output final pointcloud in sensor frame")

set_container_executable = SetLaunchConfiguration(
"container_executable",
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13 changes: 11 additions & 2 deletions aip_x2_launch/launch/pandar_node_container.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -206,14 +206,22 @@ def create_parameter_dict(*args):
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
)

# 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
ring_outlier_filter_component = ComposableNode(
package="pointcloud_preprocessor",
plugin="pointcloud_preprocessor::RingOutlierFilterComponent",
name="ring_outlier_filter",
remappings=[
("input", "rectified/pointcloud_ex"),
("output", "pointcloud"),
("output", "pointcloud_before_sync"),
],
parameters=[ring_outlier_filter_parameters],
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
)

Expand All @@ -223,7 +231,7 @@ def create_parameter_dict(*args):
name="dual_return_filter",
remappings=[
("input", "rectified/pointcloud_ex"),
("output", "pointcloud"),
("output", "pointcloud_before_sync"),
],
parameters=[
{
Expand Down Expand Up @@ -344,6 +352,7 @@ def add_launch_arg(name: str, default_value=None):
add_launch_arg("min_azimuth_deg", "135.0")
add_launch_arg("max_azimuth_deg", "225.0")
add_launch_arg("enable_blockage_diag", "true")
add_launch_arg("output_as_sensor_frame", "True")
set_container_executable = SetLaunchConfiguration(
"container_executable",
"component_container",
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17 changes: 9 additions & 8 deletions aip_x2_launch/launch/pointcloud_preprocessor.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -37,19 +37,20 @@ def launch_setup(context, *args, **kwargs):
parameters=[
{
"input_topics": [
"/sensing/lidar/front_upper/pointcloud",
"/sensing/lidar/front_lower/pointcloud",
"/sensing/lidar/left_upper/pointcloud",
"/sensing/lidar/left_lower/pointcloud",
"/sensing/lidar/right_upper/pointcloud",
"/sensing/lidar/right_lower/pointcloud",
"/sensing/lidar/rear_upper/pointcloud",
"/sensing/lidar/rear_lower/pointcloud",
"/sensing/lidar/front_upper/pointcloud_before_sync",
"/sensing/lidar/front_lower/pointcloud_before_sync",
"/sensing/lidar/left_upper/pointcloud_before_sync",
"/sensing/lidar/left_lower/pointcloud_before_sync",
"/sensing/lidar/right_upper/pointcloud_before_sync",
"/sensing/lidar/right_lower/pointcloud_before_sync",
"/sensing/lidar/rear_upper/pointcloud_before_sync",
"/sensing/lidar/rear_lower/pointcloud_before_sync",
],
"input_offset": [0.025, 0.025, 0.01, 0.0, 0.05, 0.05, 0.05, 0.05],
"timeout_sec": 0.075,
"output_frame": LaunchConfiguration("base_frame"),
"input_twist_topic_type": "twist",
"publish_synchronized_pointcloud": True,
}
],
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
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9 changes: 5 additions & 4 deletions aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -37,10 +37,10 @@ def launch_setup(context, *args, **kwargs):
parameters=[
{
"input_topics": [
"/sensing/lidar/top/pointcloud",
"/sensing/lidar/left/pointcloud",
"/sensing/lidar/right/pointcloud",
"/sensing/lidar/rear/pointcloud",
"/sensing/lidar/top/pointcloud_before_sync",
"/sensing/lidar/left/pointcloud_before_sync",
"/sensing/lidar/right/pointcloud_before_sync",
"/sensing/lidar/rear/pointcloud_before_sync",
],
"output_frame": LaunchConfiguration("base_frame"),
"input_offset": [
Expand All @@ -51,6 +51,7 @@ def launch_setup(context, *args, **kwargs):
], # each sensor will wait 60, 70, 70, 70ms
"timeout_sec": 0.095, # set shorter than 100ms
"input_twist_topic_type": "twist",
"publish_synchronized_pointcloud": True,
}
],
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
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11 changes: 10 additions & 1 deletion common_sensor_launch/launch/nebula_node_container.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -186,15 +186,23 @@ 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",
plugin="pointcloud_preprocessor::RingOutlierFilterComponent",
name="ring_outlier_filter",
remappings=[
("input", "rectified/pointcloud_ex"),
("output", "pointcloud"),
("output", "pointcloud_before_sync"),
],
parameters=[ring_outlier_filter_parameters],
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
)
)
Expand Down Expand Up @@ -311,6 +319,7 @@ 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("container_name", "nebula_node_container")
add_launch_arg("output_as_sensor_frame", "True", "output final pointcloud in sensor frame")

add_launch_arg("enable_blockage_diag", "true")
add_launch_arg("horizontal_ring_id", "64")
Expand Down

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