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refactor(autoware_pointcloud_preprocessor): rework lanelet2 map filte…
…r parameters (#8491) * feat: rework lanelet2 map filter parameters Signed-off-by: vividf <[email protected]> * chore: remove unrelated files Signed-off-by: vividf <[email protected]> * fix: fix node name in launch Signed-off-by: vividf <[email protected]> * chore: fix launcher Signed-off-by: vividf <[email protected]> * chore: fix spell error Signed-off-by: vividf <[email protected]> * chore: add boundary Signed-off-by: vividf <[email protected]> --------- Signed-off-by: vividf <[email protected]>
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4 changes: 4 additions & 0 deletions
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sensing/autoware_pointcloud_preprocessor/config/lanelet2_map_filter_node.param.yaml
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/**: | ||
ros__parameters: | ||
voxel_size_x: 0.04 | ||
voxel_size_y: 0.04 |
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sensing/autoware_pointcloud_preprocessor/launch/lanelet2_map_filter_node.launch.xml
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<launch> | ||
<arg name="input_vector_map" default="/map/vector_map"/> | ||
<arg name="input_pointcloud" default="detection_area/pointcloud"/> | ||
<arg name="output_pointcloud" default="vector_map_filtered/pointcloud"/> | ||
<arg name="lanelet2_map_filter_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/lanelet2_map_filter_node.param.yaml"/> | ||
<node pkg="autoware_pointcloud_preprocessor" exec="vector_map_filter_node" name="vector_map_filter_node"> | ||
<param from="$(var lanelet2_map_filter_param_file)"/> | ||
<remap from="input/vector_map" to="$(var input_vector_map)"/> | ||
<remap from="input/pointcloud" to="$(var input_pointcloud)"/> | ||
<remap from="output" to="$(var output_pointcloud)"/> | ||
</node> | ||
</launch> |
40 changes: 40 additions & 0 deletions
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sensing/autoware_pointcloud_preprocessor/schema/lanelet2_map_filter_node.schema.json
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{ | ||
"$schema": "http://json-schema.org/draft-07/schema#", | ||
"title": "Parameters for Lanelet2 Map Filter Node", | ||
"type": "object", | ||
"definitions": { | ||
"lanelet2_map_filter": { | ||
"type": "object", | ||
"properties": { | ||
"voxel_size_x": { | ||
"type": "number", | ||
"description": "voxel size along x-axis [m]", | ||
"default": "0.04", | ||
"minimum": 0 | ||
}, | ||
"voxel_size_y": { | ||
"type": "number", | ||
"description": "voxel size along y-axis [m]", | ||
"default": "0.04", | ||
"minimum": 0 | ||
} | ||
}, | ||
"required": ["voxel_size_x", "voxel_size_y"], | ||
"additionalProperties": false | ||
} | ||
}, | ||
"properties": { | ||
"/**": { | ||
"type": "object", | ||
"properties": { | ||
"ros__parameters": { | ||
"$ref": "#/definitions/lanelet2_map_filter" | ||
} | ||
}, | ||
"required": ["ros__parameters"], | ||
"additionalProperties": false | ||
} | ||
}, | ||
"required": ["/**"], | ||
"additionalProperties": false | ||
} |
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