Merge branch 'main' into fix/add_new_parameters_for_distortion_corrector

common_sensor_launch/config/ring_outlier_filter_node.param.yaml

@@ -0,0 +1,14 @@
+/**:
+  ros__parameters:
+    distance_ratio: 1.03
+    object_length_threshold: 0.1
+    num_points_threshold: 4
+    max_rings_num: 128
+    max_points_num_per_ring: 4000
+    publish_outlier_pointcloud: false
+    min_azimuth_deg: 0.0
+    max_azimuth_deg: 360.0
+    max_distance: 12.0
+    vertical_bins: 128
+    horizontal_bins: 36
+    noise_threshold: 2

common_sensor_launch/launch/nebula_node_container.launch.py

@@ -34,6 +34,8 @@ def get_lidar_make(sensor_name):
         return "Hesai", ".csv"
     elif sensor_name[:3].lower() in ["hdl", "vlp", "vls"]:
         return "Velodyne", ".yaml"
+    elif sensor_name.lower() in ["helios", "bpearl"]:
+        return "Robosense", None
     return "unrecognized_sensor_model"
 
 
@@ -75,21 +77,28 @@ def create_parameter_dict(*args):
     nebula_decoders_share_dir = get_package_share_directory("nebula_decoders")
 
     # Calibration file
-    sensor_calib_fp = os.path.join(
-        nebula_decoders_share_dir,
-        "calibration",
-        sensor_make.lower(),
-        sensor_model + sensor_extension,
-    )
-    assert os.path.exists(
-        sensor_calib_fp
-    ), "Sensor calib file under calibration/ was not found: {}".format(sensor_calib_fp)
+    if sensor_extension is not None:  # Velodyne and Hesai
+        sensor_calib_fp = os.path.join(
+            nebula_decoders_share_dir,
+            "calibration",
+            sensor_make.lower(),
+            sensor_model + sensor_extension,
+        )
+        assert os.path.exists(
+            sensor_calib_fp
+        ), "Sensor calib file under calibration/ was not found: {}".format(sensor_calib_fp)
+    else:  # Robosense
+        sensor_calib_fp = ""
 
     # Pointcloud preprocessor parameters
     distortion_corrector_node_param = ParameterFile(
         param_file=LaunchConfiguration("distortion_correction_node_param_path").perform(context),
         allow_substs=True,
     )
+    ring_outlier_filter_node_param = ParameterFile(
+        param_file=LaunchConfiguration("ring_outlier_filter_node_param_path").perform(context),
+        allow_substs=True,
+    )
 
     nodes = []
 
@@ -129,6 +138,8 @@ def create_parameter_dict(*args):
                 # cSpell:ignore knzo25
                 # TODO(knzo25): fix the remapping once nebula gets updated
                 ("velodyne_points", "pointcloud_raw_ex"),
+                # ("robosense_points", "pointcloud_raw_ex"), #for robosense
+                # ("pandar_points", "pointcloud_raw_ex"), # for hesai
             ],
             extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
         )
@@ -199,11 +210,9 @@ 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).lower() == "true":
-        ring_outlier_filter_parameters = {"output_frame": LaunchConfiguration("frame_id")}
+        ring_outlier_output_frame = {"output_frame": LaunchConfiguration("frame_id")}
     else:
-        ring_outlier_filter_parameters = {
-            "output_frame": ""
-        }  # keep the output frame as the input frame
+        ring_outlier_output_frame = {"output_frame": ""}  # keep the output frame as the input frame
     nodes.append(
         ComposableNode(
             package="autoware_pointcloud_preprocessor",
@@ -213,7 +222,7 @@ 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")}],
         )
     )
@@ -312,6 +321,15 @@ def add_launch_arg(name: str, default_value=None, description=None):
         ),
         description="path to parameter file of distortion correction node",
     )
+    add_launch_arg(
+        "ring_outlier_filter_node_param_path",
+        os.path.join(
+            common_sensor_share_dir,
+            "config",
+            "ring_outlier_filter_node.param.yaml",
+        ),
+        description="path to parameter file of ring outlier filter node",
+    )
 
     set_container_executable = SetLaunchConfiguration(
         "container_executable",

common_sensor_launch/launch/robosense_Bpearl.launch.xml

@@ -0,0 +1,37 @@
+<launch>
+  <!-- Params -->
+  <arg name="launch_driver" default="true"/>
+  <arg name="model" default="Bpearl"/>
+  <arg name="max_range" default="30.0"/>
+  <arg name="min_range" default="0.4"/>
+  <arg name="sensor_frame" default="robosense"/>
+  <arg name="return_mode" default="SingleStrongest"/>
+  <arg name="sensor_ip" default="192.168.1.200"/>
+  <arg name="host_ip" default="255.255.255.255"/>
+  <arg name="data_port" default="2368"/>
+  <arg name="gnss_port" default="7788"/>
+  <arg name="scan_phase" default="0.0"/>
+  <arg name="cloud_min_angle" default="0"/>
+  <arg name="cloud_max_angle" default="360"/>
+  <arg name="vehicle_mirror_param_file"/>
+  <arg name="container_name" default="robosense_node_container"/>
+
+  <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
+    <arg name="launch_driver" value="$(var launch_driver)"/>
+    <arg name="sensor_model" value="$(var model)"/>
+    <arg name="return_mode" value="$(var return_mode)"/>
+    <arg name="max_range" value="$(var max_range)"/>
+    <arg name="min_range" value="$(var min_range)"/>
+    <arg name="frame_id" value="$(var sensor_frame)"/>
+    <arg name="sensor_ip" value="$(var sensor_ip)"/>
+    <arg name="host_ip" value="$(var host_ip)"/>
+    <arg name="data_port" value="$(var data_port)"/>
+    <arg name="scan_phase" value="$(var scan_phase)"/>
+    <arg name="cloud_min_angle" value="$(var cloud_min_angle)"/>
+    <arg name="cloud_max_angle" value="$(var cloud_max_angle)"/>
+    <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
+    <arg name="use_intra_process" value="true"/>
+    <arg name="use_multithread" value="false"/>
+    <arg name="container_name" value="$(var container_name)"/>
+  </include>
+</launch>

common_sensor_launch/launch/robosense_Helios.launch.xml

@@ -0,0 +1,37 @@
+<launch>
+  <!-- Params -->
+  <arg name="launch_driver" default="true"/>
+  <arg name="model" default="Helios"/>
+  <arg name="max_range" default="150.0"/>
+  <arg name="min_range" default="0.2"/>
+  <arg name="sensor_frame" default="robosense"/>
+  <arg name="return_mode" default="SingleStrongest"/>
+  <arg name="sensor_ip" default="192.168.1.200"/>
+  <arg name="host_ip" default="255.255.255.255"/>
+  <arg name="data_port" default="2368"/>
+  <arg name="gnss_port" default="7788"/>
+  <arg name="scan_phase" default="0.0"/>
+  <arg name="cloud_min_angle" default="0"/>
+  <arg name="cloud_max_angle" default="360"/>
+  <arg name="vehicle_mirror_param_file"/>
+  <arg name="container_name" default="robosense_node_container"/>
+
+  <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
+    <arg name="launch_driver" value="$(var launch_driver)"/>
+    <arg name="sensor_model" value="$(var model)"/>
+    <arg name="return_mode" value="$(var return_mode)"/>
+    <arg name="max_range" value="$(var max_range)"/>
+    <arg name="min_range" value="$(var min_range)"/>
+    <arg name="frame_id" value="$(var sensor_frame)"/>
+    <arg name="sensor_ip" value="$(var sensor_ip)"/>
+    <arg name="host_ip" value="$(var host_ip)"/>
+    <arg name="data_port" value="$(var data_port)"/>
+    <arg name="scan_phase" value="$(var scan_phase)"/>
+    <arg name="cloud_min_angle" value="$(var cloud_min_angle)"/>
+    <arg name="cloud_max_angle" value="$(var cloud_max_angle)"/>
+    <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
+    <arg name="use_intra_process" value="true"/>
+    <arg name="use_multithread" value="false"/>
+    <arg name="container_name" value="$(var container_name)"/>
+  </include>
+</launch>

sample_sensor_kit_launch/launch/gnss.launch.xml

@@ -24,7 +24,7 @@
     </group>
 
     <!-- NavSatFix to MGRS Pose -->
-    <include file="$(find-pkg-share gnss_poser)/launch/gnss_poser.launch.xml">
+    <include file="$(find-pkg-share autoware_gnss_poser)/launch/gnss_poser.launch.xml">
       <arg name="input_topic_fix" value="$(var navsatfix_topic_name)"/>
       <arg name="input_topic_orientation" value="$(var orientation_topic_name)"/>
 

sample_sensor_kit_launch/launch/imu.launch.xml

@@ -15,13 +15,13 @@
 
     <arg name="imu_raw_name" default="tamagawa/imu_raw"/>
     <arg name="imu_corrector_param_file" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/sample_sensor_kit/imu_corrector.param.yaml"/>
-    <include file="$(find-pkg-share imu_corrector)/launch/imu_corrector.launch.xml">
+    <include file="$(find-pkg-share autoware_imu_corrector)/launch/imu_corrector.launch.xml">
       <arg name="input_topic" value="$(var imu_raw_name)"/>
       <arg name="output_topic" value="imu_data"/>
       <arg name="param_file" value="$(var imu_corrector_param_file)"/>
     </include>
 
-    <include file="$(find-pkg-share imu_corrector)/launch/gyro_bias_estimator.launch.xml">
+    <include file="$(find-pkg-share autoware_imu_corrector)/launch/gyro_bias_estimator.launch.xml">
       <arg name="input_imu_raw" value="$(var imu_raw_name)"/>
       <arg name="input_odom" value="/localization/kinematic_state"/>
       <arg name="imu_corrector_param_file" value="$(var imu_corrector_param_file)"/>

sample_sensor_kit_launch/package.xml

@@ -10,9 +10,9 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
+  <exec_depend>autoware_gnss_poser</exec_depend>
   <exec_depend>autoware_pointcloud_preprocessor</exec_depend>
   <exec_depend>common_sensor_launch</exec_depend>
-  <exec_depend>gnss_poser</exec_depend>
   <exec_depend>tamagawa_imu_driver</exec_depend>
   <exec_depend>topic_tools</exec_depend>
   <exec_depend>ublox_gps</exec_depend>