forked from autowarefoundation/autoware.universe
-
Notifications
You must be signed in to change notification settings - Fork 0
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
feat(pcdless_launch): add multi camera launcher (autowarefoundation#22)
* feat(pcdless_launch): add multi camera launcher Signed-off-by: kminoda <[email protected]> * minor fix Signed-off-by: kminoda <[email protected]> --------- Signed-off-by: kminoda <[email protected]>
- Loading branch information
Showing
3 changed files
with
165 additions
and
0 deletions.
There are no files selected for viewing
101 changes: 101 additions & 0 deletions
101
localization/yabloc/pcdless_launch/launch/pcdless_multi_camera.launch.xml
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,101 @@ | ||
| <launch> | ||
| <!-- NOTE: --> | ||
| <arg name="standalone" description="[true,false] Set to true if not connected to Autoware's P/C."/> | ||
| <arg name="use_sim_time" default="true"/> | ||
| <arg name="use_septentrio" default="false" description="septentrio gnss"/> | ||
|
|
||
| <!-- source camera image topics --> | ||
| <arg name="src_image_0" default="/sensing/camera/camera0/image_rect_color/compressed"/> | ||
| <arg name="src_info_0" default="/sensing/camera/camera0/camera_info"/> | ||
| <arg name="src_image_1" default="/sensing/camera/camera1/image_rect_color/compressed"/> | ||
| <arg name="src_info_1" default="/sensing/camera/camera1/camera_info"/> | ||
| <arg name="resized_image_0" default="/sensing/camera/undistorted_0/image_raw"/> | ||
| <arg name="resized_info_0" default="/sensing/camera/undistorted_0/camera_info"/> | ||
| <arg name="resized_image_1" default="/sensing/camera/undistorted_1/image_raw"/> | ||
| <arg name="resized_info_1" default="/sensing/camera/undistorted_1/camera_info"/> | ||
|
|
||
| <let name="connect_base_link_to_particle_pose" value="true" if="$(var standalone)"/> | ||
| <let name="connect_base_link_to_particle_pose" value="false" unless="$(var standalone)"/> | ||
| <let name="input_pose" value="/localization/pf/pose" if="$(var standalone)"/> | ||
| <let name="input_pose" value="/localization/pose_twist_fusion_filter/pose" unless="$(var standalone)"/> | ||
|
|
||
| <group> | ||
| <push-ros-namespace namespace="localization"/> | ||
|
|
||
| <!-- initializer --> | ||
| <group> | ||
| <push-ros-namespace namespace="initializer"/> | ||
| <include file="$(find-pkg-share pcdless_launch)/launch/impl/initializer.launch.xml"> | ||
| <arg name="skip_autoware_pose_initializer" value="$(var standalone)"/> | ||
| </include> | ||
| </group> | ||
|
|
||
| <!-- particle filter --> | ||
| <group> | ||
| <push-ros-namespace namespace="pf"/> | ||
| <include file="$(find-pkg-share pcdless_launch)/launch/impl/pf.launch.xml"/> | ||
| </group> | ||
|
|
||
| <!-- static tf --> | ||
| <group if="$(var connect_base_link_to_particle_pose)"> | ||
| <node name="base_link_tf" pkg="tf2_ros" exec="static_transform_publisher" args="--frame-id /particle_filter --child-frame-id /base_link"/> | ||
| </group> | ||
|
|
||
| <!-- image processing --> | ||
| <group> | ||
| <push-ros-namespace namespace="imgproc/camera0"/> | ||
| <include file="$(find-pkg-share pcdless_launch)/launch/impl/imgproc.launch.xml"> | ||
| <arg name="src_image" value="$(var src_image_0)"/> | ||
| <arg name="src_info" value="$(var src_info_0)"/> | ||
| <arg name="resized_image" value="$(var resized_image_0)"/> | ||
| <arg name="resized_info" value="$(var resized_info_0)"/> | ||
| </include> | ||
| </group> | ||
| <group> | ||
| <push-ros-namespace namespace="imgproc/camera1"/> | ||
| <include file="$(find-pkg-share pcdless_launch)/launch/impl/imgproc.launch.xml"> | ||
| <arg name="src_image" value="$(var src_image_1)"/> | ||
| <arg name="src_info" value="$(var src_info_1)"/> | ||
| <arg name="resized_image" value="$(var resized_image_1)"/> | ||
| <arg name="resized_info" value="$(var resized_info_1)"/> | ||
| </include> | ||
| </group> | ||
|
|
||
| <!-- twist --> | ||
| <group> | ||
| <push-ros-namespace namespace="twist"/> | ||
| <include file="$(find-pkg-share pcdless_launch)/launch/impl/twist.launch.xml"/> | ||
| </group> | ||
|
|
||
| <!-- validation --> | ||
| <group> | ||
| <push-ros-namespace namespace="validation/camera0"/> | ||
| <include file="$(find-pkg-share pcdless_launch)/launch/impl/validation.launch.xml"> | ||
| <arg name="input_overlayed_pose" value="$(var input_pose)"/> | ||
| <arg name="resized_image" value="$(var resized_image_0)"/> | ||
| <arg name="resized_info" value="$(var resized_info_0)"/> | ||
| </include> | ||
| </group> | ||
| <group> | ||
| <push-ros-namespace namespace="validation/camera1"/> | ||
| <include file="$(find-pkg-share pcdless_launch)/launch/impl/validation.launch.xml"> | ||
| <arg name="input_overlayed_pose" value="$(var input_pose)"/> | ||
| <arg name="resized_image" value="$(var resized_image_1)"/> | ||
| <arg name="resized_info" value="$(var resized_info_1)"/> | ||
| </include> | ||
| </group> | ||
|
|
||
| <!-- map --> | ||
| <group> | ||
| <push-ros-namespace namespace="map"/> | ||
| <include file="$(find-pkg-share pcdless_launch)/launch/impl/map.launch.xml"> | ||
| <arg name="input_particle_pose" value="$(var input_pose)"/> | ||
| </include> | ||
| </group> | ||
|
|
||
| <!-- septentrio ublox converter --> | ||
| <group if="$(var use_septentrio)"> | ||
| <node name="doppler_converter" pkg="doppler_converter" exec="doppler_converter"/> | ||
| </group> | ||
| </group> | ||
| </launch> |
31 changes: 31 additions & 0 deletions
31
localization/yabloc/pcdless_launch/launch/tier4_jpntaxi.launch.xml
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,31 @@ | ||
| <launch> | ||
| <arg name="standalone" default="true" description="Set to true if not connected to Autoware's P/C."/> | ||
|
|
||
| <include file="$(find-pkg-share pcdless_launch)/launch/pcdless.launch.xml"> | ||
| <arg name="standalone" value="$(var standalone)"/> | ||
|
|
||
| <arg name="min_segment_length" value="1.5"/> | ||
| <arg name="max_segment_distance" value="30.0"/> | ||
| <arg name="ignore_less_than_float" value="true"/> | ||
|
|
||
| <arg name="static_linear_covariance" value="0.04"/> | ||
| <arg name="static_angular_covariance" value="0.0010"/> | ||
| <arg name="static_scale_factor" value="1.00"/> | ||
| <arg name="static_gyro_bias" value="10.0"/> | ||
|
|
||
| <arg name="road_marking_labels" value="[cross_walk, zebra_marking, line_thin, line_thick, pedestrian_marking, stop_line, road_border]"/> | ||
| <arg name="sign_board_labels" value="[sign-board]"/> | ||
|
|
||
| <arg name="src_image" value="/sensing/camera/camera0/image_rect_color/compressed"/> | ||
| <arg name="src_info" value="/sensing/camera/camera0/camera_info"/> | ||
|
|
||
| <arg name="target_height_ratio" value="0.80"/> | ||
| <!-- <arg name="override_camera_frame_id" value="fake_camera_optical_link"/> --> | ||
| <arg name="use_septentrio" value="true"/> | ||
| </include> | ||
|
|
||
| <node pkg="tf2_ros" exec="static_transform_publisher" name="fake_tf1" args="--frame-id base_link --child-frame-id fake_sensor_kit_base_link --x 0.6 --z 1.7 --yaw 0.03" /> | ||
| <node pkg="tf2_ros" exec="static_transform_publisher" name="fake_tf2" args="--frame-id fake_sensor_kit_base_link --child-frame-id fake_camera_link --x 0.8703194 --y 0.01868 --z 0.09616 --roll -0.000664 --pitch 0.0085596 --yaw -0.01503"/> | ||
| <node pkg="tf2_ros" exec="static_transform_publisher" name="fake_tf3" args="--frame-id fake_camera_link --child-frame-id fake_camera_optical_link --roll -1.57 --yaw -1.57" /> | ||
|
|
||
| </launch> |
33 changes: 33 additions & 0 deletions
33
localization/yabloc/pcdless_launch/launch/tier4_jpntaxi_multi.launch.xml
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,33 @@ | ||
| <launch> | ||
| <arg name="standalone" default="true" description="Set to true if not connected to Autoware's P/C."/> | ||
|
|
||
| <include file="$(find-pkg-share pcdless_launch)/launch/pcdless_multi_camera.launch.xml"> | ||
| <arg name="standalone" value="$(var standalone)"/> | ||
|
|
||
| <arg name="min_segment_length" value="1.5"/> | ||
| <arg name="max_segment_distance" value="30.0"/> | ||
| <arg name="ignore_less_than_float" value="true"/> | ||
|
|
||
| <arg name="static_linear_covariance" value="0.04"/> | ||
| <arg name="static_angular_covariance" value="0.0010"/> | ||
| <arg name="static_scale_factor" value="1.00"/> | ||
| <arg name="static_gyro_bias" value="10.0"/> | ||
|
|
||
| <arg name="road_marking_labels" value="[cross_walk, zebra_marking, line_thin, line_thick, pedestrian_marking, stop_line, road_border]"/> | ||
| <arg name="sign_board_labels" value="[sign-board]"/> | ||
|
|
||
| <arg name="src_image_0" value="/sensing/camera/camera0/image_rect_color/compressed"/> | ||
| <arg name="src_info_0" value="/sensing/camera/camera0/camera_info"/> | ||
| <arg name="src_image_1" value="/sensing/camera/camera1/image_rect_color/compressed"/> | ||
| <arg name="src_info_1" value="/sensing/camera/camera1/camera_info"/> | ||
|
|
||
| <arg name="target_height_ratio" value="0.80"/> | ||
| <!-- <arg name="override_camera_frame_id" value="fake_camera_optical_link"/> --> | ||
| <arg name="use_septentrio" value="true"/> | ||
| </include> | ||
|
|
||
| <node pkg="tf2_ros" exec="static_transform_publisher" name="fake_tf1" args="--frame-id base_link --child-frame-id fake_sensor_kit_base_link --x 0.6 --z 1.7 --yaw 0.03" /> | ||
| <node pkg="tf2_ros" exec="static_transform_publisher" name="fake_tf2" args="--frame-id fake_sensor_kit_base_link --child-frame-id fake_camera_link --x 0.8703194 --y 0.01868 --z 0.09616 --roll -0.000664 --pitch 0.0085596 --yaw -0.01503"/> | ||
| <node pkg="tf2_ros" exec="static_transform_publisher" name="fake_tf3" args="--frame-id fake_camera_link --child-frame-id fake_camera_optical_link --roll -1.57 --yaw -1.57" /> | ||
|
|
||
| </launch> |