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fix: use ring_outlier_filter_node_param #324

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merged 2 commits into from
Oct 3, 2024
+12 −6
Merged

fix: use ring_outlier_filter_node_param #324

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34be7e9
Fixed ring_outlier_filter_node_param
SakodaShintaro Oct 3, 2024
d4f1e11
ci(pre-commit): autofix
pre-commit-ci[bot] Oct 3, 2024
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18 changes: 12 additions & 6 deletions 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 @@ -25,6 +25,7 @@
from launch_ros.actions import ComposableNodeContainer
from launch_ros.actions import LoadComposableNodes
from launch_ros.descriptions import ComposableNode
from launch_ros.parameter_descriptions import ParameterFile
from launch_ros.substitutions import FindPackageShare
import yaml

Expand Down Expand Up @@ -221,13 +222,18 @@ def create_parameter_dict(*args):
)
)

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):
ring_outlier_filter_parameters = {"output_frame": LaunchConfiguration("frame_id")}
if LaunchConfiguration("output_as_sensor_frame").perform(context).lower() == "true":
ring_outlier_output_frame = {"output_frame": LaunchConfiguration("frame_id")}
else:
ring_outlier_filter_parameters = {
"output_frame": ""
} # keep the output frame as the input frame
# keep the output frame as the input frame
ring_outlier_output_frame = {"output_frame": ""}

nodes.append(
ComposableNode(
package="autoware_pointcloud_preprocessor",
Expand All @@ -237,7 +243,7 @@ def create_parameter_dict(*args):
("input", "rectified/pointcloud_ex"),
("output", "pointcloud_before_sync"),
],
parameters=[ring_outlier_filter_parameters],
parameters=[ring_outlier_filter_node_param, ring_outlier_output_frame],
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
)
)
Expand Down
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