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feat: always separate lidar preprocessing from pointcloud_container #85

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merged 7 commits into from
Jan 19, 2024
Merged

feat: always separate lidar preprocessing from pointcloud_container #85

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f7b8ca0
feat!: replace use_pointcloud_container
kminoda Jan 16, 2024
70fa963
style(pre-commit): autofix
pre-commit-ci[bot] Jan 16, 2024
eb50925
fix: now works
kminoda Jan 16, 2024
628ca67
revert: revert unnecessary change
kminoda Jan 16, 2024
40faf92
include_concat_node_in_pointcloud_container to use_pointcloud_container
kminoda Jan 17, 2024
8737af1
style(pre-commit): autofix
pre-commit-ci[bot] Jan 17, 2024
44c503c
fix arg name
kminoda Jan 19, 2024
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20 changes: 3 additions & 17 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 @@ -200,16 +200,9 @@ def create_parameter_dict(*args):
package="rclcpp_components",
executable=LaunchConfiguration("container_executable"),
composable_node_descriptions=nodes,
condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
output="screen",
)

component_loader = LoadComposableNodes(
composable_node_descriptions=nodes,
target_container=LaunchConfiguration("container_name"),
condition=IfCondition(LaunchConfiguration("use_pointcloud_container")),
)

driver_component = ComposableNode(
package="nebula_ros",
plugin=sensor_make + "HwInterfaceRosWrapper",
Expand Down Expand Up @@ -238,19 +231,13 @@ def create_parameter_dict(*args):
],
)

target_container = (
container
if UnlessCondition(LaunchConfiguration("use_pointcloud_container")).evaluate(context)
else LaunchConfiguration("container_name")
)

driver_component_loader = LoadComposableNodes(
composable_node_descriptions=[driver_component],
target_container=target_container,
target_container=container,
condition=IfCondition(LaunchConfiguration("launch_driver")),
)

return [container, component_loader, driver_component_loader]
return [container, driver_component_loader]


def generate_launch_description():
Expand Down Expand Up @@ -287,8 +274,7 @@ def add_launch_arg(name: str, default_value=None, description=None):
)
add_launch_arg("use_multithread", "False", "use multithread")
add_launch_arg("use_intra_process", "False", "use ROS 2 component container communication")
add_launch_arg("use_pointcloud_container", "false")
add_launch_arg("container_name", "nebula_node_container")
add_launch_arg("lidar_container_name", "nebula_node_container")

set_container_executable = SetLaunchConfiguration(
"container_executable",
Expand Down
2 changes: 0 additions & 2 deletions common_sensor_launch/launch/velodyne_VLP16.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,6 @@
<arg name="cloud_min_angle" default="0"/>
<arg name="cloud_max_angle" default="360"/>
<arg name="vehicle_mirror_param_file"/>
<arg name="use_pointcloud_container" default="false"/>
<arg name="container_name" default="velodyne_node_container"/>

<include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
Expand All @@ -32,7 +31,6 @@
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
<arg name="use_intra_process" value="true"/>
<arg name="use_multithread" value="false"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="container_name" value="$(var container_name)"/>
</include>

Expand Down
2 changes: 0 additions & 2 deletions common_sensor_launch/launch/velodyne_VLS128.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,6 @@
<arg name="cloud_min_angle" default="0"/>
<arg name="cloud_max_angle" default="360"/>
<arg name="vehicle_mirror_param_file"/>
<arg name="use_pointcloud_container" default="false"/>
<arg name="container_name" default="velodyne_node_container"/>

<include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
Expand All @@ -32,7 +31,6 @@
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
<arg name="use_intra_process" value="true"/>
<arg name="use_multithread" value="true"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="container_name" value="$(var container_name)"/>
</include>

Expand Down
12 changes: 4 additions & 8 deletions sample_sensor_kit_launch/launch/lidar.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -21,8 +21,7 @@
<arg name="scan_phase" value="300.0"/>
<arg name="launch_driver" value="$(var launch_driver)"/>
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="container_name" value="$(var pointcloud_container_name)"/>
<arg name="container_name" value="pointcloud_container"/>
</include>
</group>

Expand All @@ -39,8 +38,7 @@
<arg name="cloud_max_angle" value="60"/>
<arg name="launch_driver" value="$(var launch_driver)"/>
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="container_name" value="$(var pointcloud_container_name)"/>
<arg name="container_name" value="pointcloud_container"/>
</include>
</group>

Expand All @@ -57,8 +55,7 @@
<arg name="cloud_max_angle" value="60"/>
<arg name="launch_driver" value="$(var launch_driver)"/>
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="container_name" value="$(var pointcloud_container_name)"/>
<arg name="container_name" value="pointcloud_container"/>
</include>
</group>

Expand All @@ -75,8 +72,7 @@
<arg name="cloud_max_angle" value="60"/>
<arg name="launch_driver" value="$(var launch_driver)"/>
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="container_name" value="$(var pointcloud_container_name)"/>
<arg name="container_name" value="pointcloud_container"/>
</include>
</group>

Expand Down
7 changes: 4 additions & 3 deletions sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -51,7 +51,7 @@ def launch_setup(context, *args, **kwargs):

# set container to run all required components in the same process
container = ComposableNodeContainer(
name=LaunchConfiguration("container_name"),
name=LaunchConfiguration("individual_container_name"),
namespace="",
package="rclcpp_components",
executable=LaunchConfiguration("container_executable"),
Expand All @@ -63,7 +63,7 @@ def launch_setup(context, *args, **kwargs):
target_container = (
container
if UnlessCondition(LaunchConfiguration("use_pointcloud_container")).evaluate(context)
else LaunchConfiguration("container_name")
else LaunchConfiguration("pointcloud_container_name")
)

# load concat or passthrough filter
Expand All @@ -86,7 +86,8 @@ def add_launch_arg(name: str, default_value=None):
add_launch_arg("use_multithread", "False")
add_launch_arg("use_intra_process", "False")
add_launch_arg("use_pointcloud_container", "False")
add_launch_arg("container_name", "pointcloud_preprocessor_container")
add_launch_arg("pointcloud_container_name", "pointcloud_container")
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add_launch_arg("individual_container_name", "concatenate_container")

set_container_executable = SetLaunchConfiguration(
"container_executable",
Expand Down
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