Fixed filter params to run Autoware + AWSIM

Signed-off-by: Shintaro Sakoda <[email protected]>
SakodaShintaro · Oct 23, 2024 · 6763725 · 6763725
1 parent 528c9d8
commit 6763725
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diff --git a/...ception_launch/launch/object_recognition/detection/filter/pointcloud_map_filter.launch.py b/...ception_launch/launch/object_recognition/detection/filter/pointcloud_map_filter.launch.py
@@ -87,6 +87,12 @@ def create_compare_map_pipeline(self):
                         "voxel_size_x": self.voxel_size,
                         "voxel_size_y": self.voxel_size,
                         "voxel_size_z": self.voxel_size,
+                        "input_frame": "",
+                        "output_frame": "",
+                        "max_queue_size": 5,
+                        "use_indices": False,
+                        "latched_indices": False,
+                        "approximate_sync": False,
                     }
                 ],
                 extra_arguments=[

diff --git a/...ion_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py b/...ion_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py
@@ -439,6 +439,10 @@ def create_single_frame_outlier_filter_components(input_topic, output_topic, con
                         "voxel_size_x": 0.04,
                         "voxel_size_y": 0.04,
                         "voxel_size_z": 0.08,
+                        "max_queue_size": 5,
+                        "use_indices": False,
+                        "latched_indices": False,
+                        "approximate_sync": False,
                     }
                 ],
                 extra_arguments=[

diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -155,6 +155,12 @@
           <param name="voxel_size_x" value="$(var common_downsample_voxel_size_x)"/>
           <param name="voxel_size_y" value="$(var common_downsample_voxel_size_y)"/>
           <param name="voxel_size_z" value="$(var common_downsample_voxel_size_z)"/>
+          <param name="input_frame" value=""/>
+          <param name="output_frame" value=""/>
+          <param name="max_queue_size" value="5"/>
+          <param name="use_indices" value="false"/>
+          <param name="latched_indices" value="false"/>
+          <param name="approximate_sync" value="false"/>
           <extra_arg name="use_intra_process_comms" value="true"/>
         </composable_node>
       </load_composable_node>

diff --git a/perception/autoware_ground_segmentation/config/ground_segmentation.param.yaml b/perception/autoware_ground_segmentation/config/ground_segmentation.param.yaml
@@ -19,6 +19,12 @@
         radial_divider_angle_deg: 1.0
         use_recheck_ground_cluster: true
         use_lowest_point: true
+        input_frame: ""
+        output_frame: ""
+        max_queue_size: 5
+        use_indices: false
+        latched_indices: false
+        approximate_sync: false
 
         # debug parameters
         publish_processing_time_detail: false
diff --git a/...istic_occupancy_grid_map/launch/multi_lidar_pointcloud_based_occupancy_grid_map.launch.py b/...istic_occupancy_grid_map/launch/multi_lidar_pointcloud_based_occupancy_grid_map.launch.py
@@ -110,6 +110,12 @@ def get_downsample_filter_node(setting: dict) -> ComposableNode:
                 "voxel_size_x": voxel_size,
                 "voxel_size_y": voxel_size,
                 "voxel_size_z": voxel_size,
+                "input_frame": "",
+                "output_frame": "",
+                "max_queue_size": 5,
+                "use_indices": False,
+                "latched_indices": False,
+                "approximate_sync": False,
             }
         ],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],

diff --git a/...are_probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py b/...are_probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py
@@ -43,6 +43,12 @@ def get_downsample_filter_node(setting: dict) -> ComposableNode:
                 "voxel_size_x": voxel_size,
                 "voxel_size_y": voxel_size,
                 "voxel_size_z": voxel_size,
+                "input_frame": "",
+                "output_frame": "",
+                "max_queue_size": 5,
+                "use_indices": False,
+                "latched_indices": False,
+                "approximate_sync": False,
             }
         ],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],