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Test/localization launch individual args #18

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Test/localization launch individual args #18

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eb29cbd
edit
kminoda Dec 5, 2022
ffbdacd
now works
kminoda Dec 5, 2022
01eb50e
less args
kminoda Dec 5, 2022
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2 changes: 1 addition & 1 deletion launch/tier4_localization_launch/config/ndt_scan_matcher.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,7 @@
trans_epsilon: 0.01

# The newton line search maximum step length
step_size: 0.1
step_size: 0.12345

# The ND voxel grid resolution
resolution: 2.0
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5 changes: 0 additions & 5 deletions launch/tier4_localization_launch/launch/localization.launch.xml
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Expand Up @@ -4,8 +4,6 @@
<arg name="use_pointcloud_container" default="true" description="launch pointcloud container"/>
<arg name="pointcloud_container_name" default="pointcloud_container"/>

<arg name="tier4_localization_launch_param_path" default="$(find-pkg-share tier4_localization_launch)/config" description="tier4_localization_launch parameter path"/>

<!-- localization module -->
<group>
<push-ros-namespace namespace="localization"/>
Expand All @@ -16,14 +14,12 @@
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
<arg name="tier4_localization_launch_param_path" value="$(var tier4_localization_launch_param_path)"/>
</include>
</group>
<!-- pose_estimator module -->
<group>
<push-ros-namespace namespace="pose_estimator"/>
<include file="$(find-pkg-share tier4_localization_launch)/launch/pose_estimator/pose_estimator.launch.xml">
<arg name="tier4_localization_launch_param_path" value="$(var tier4_localization_launch_param_path)"/>
</include>
</group>
<!-- twist_estimator module -->
Expand All @@ -39,7 +35,6 @@
<!-- localization_error_monitor_module -->
<group>
<include file="$(find-pkg-share tier4_localization_launch)/launch/localization_error_monitor/localization_error_monitor.launch.xml">
<arg name="param_file" value="$(var tier4_localization_launch_param_path)/localization_error_monitor.param.yaml"/>
</include>
</group>
</group>
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2 changes: 1 addition & 1 deletion ...calization_launch/launch/localization_error_monitor/localization_error_monitor.launch.xml
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Expand Up @@ -3,7 +3,7 @@
<group>
<include file="$(find-pkg-share localization_error_monitor)/launch/localization_error_monitor.launch.xml">
<arg name="input/odom" value="/localization/kinematic_state"/>
<arg name="param_file" value="$(find-pkg-share tier4_localization_launch)/config/localization_error_monitor.param.yaml"/>
<arg name="param_file" value="$(var localization_localization_error_monitor_param_path)"/>
</include>
</group>
</launch>
3 changes: 1 addition & 2 deletions launch/tier4_localization_launch/launch/pose_estimator/pose_estimator.launch.xml
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@@ -1,6 +1,5 @@
<?xml version="1.0"?>
<launch>
<arg name="tier4_localization_launch_param_path"/>
<group>
<include file="$(find-pkg-share ndt_scan_matcher)/launch/ndt_scan_matcher.launch.xml">
<arg name="input_map_points_topic" value="/map/pointcloud_map"/>
Expand All @@ -10,7 +9,7 @@
<arg name="output_pose_topic" value="/localization/pose_estimator/pose"/>
<arg name="output_pose_with_covariance_topic" value="/localization/pose_estimator/pose_with_covariance"/>

<arg name="param_file" value="$(var tier4_localization_launch_param_path)/ndt_scan_matcher.param.yaml"/>
<arg name="param_file" value="$(var localization_ndt_scan_matcher_param_path)"/>
</include>
</group>
</launch>
14 changes: 3 additions & 11 deletions launch/tier4_localization_launch/launch/util/util.launch.py
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Expand Up @@ -94,32 +94,24 @@ def add_launch_arg(name: str, default_value=None, description=None):
arg = DeclareLaunchArgument(name, default_value=default_value, description=description)
launch_arguments.append(arg)

add_launch_arg(
"tier4_localization_launch_param_path",
[FindPackageShare("tier4_localization_launch"), "/config"],
"tier4_localization_launch param path",
)
add_launch_arg(
"crop_box_filter_measurement_range_param_path",
[
LaunchConfiguration("tier4_localization_launch_param_path"),
"/crop_box_filter_measurement_range.param.yaml",
LaunchConfiguration("localization_crop_box_filter_measurement_range_param_path"),
],
"path to the parameter file of crop_box_filter_measurement_range",
)
add_launch_arg(
"voxel_grid_downsample_filter_param_path",
[
LaunchConfiguration("tier4_localization_launch_param_path"),
"/voxel_grid_filter.param.yaml",
LaunchConfiguration("localization_voxel_grid_filter_param_path"),
],
"path to the parameter file of voxel_grid_downsample_filter",
)
add_launch_arg(
"random_downsample_filter_param_path",
[
LaunchConfiguration("tier4_localization_launch_param_path"),
"/random_downsample_filter.param.yaml",
LaunchConfiguration("localization_random_downsample_filter_param_path"),
],
"path to the parameter file of random_downsample_filter",
)
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2 changes: 0 additions & 2 deletions launch/tier4_localization_launch/launch/util/util.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,6 @@
<launch>
<!-- Topics -->
<arg name="input/pointcloud" description="input topic name"/>
<arg name="tier4_localization_launch_param_path" description="tier4_localization_launch param path"/>
<arg name="output/pointcloud" default="downsample/pointcloud" description="final output topic name"/>

<!-- container -->
Expand All @@ -29,7 +28,6 @@
<!-- util -->
<group>
<include file="$(find-pkg-share tier4_localization_launch)/launch/util/util.launch.py">
<arg name="tier4_localization_launch_param_path" value="$(var tier4_localization_launch_param_path)"/>
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
<arg name="output/pointcloud" value="$(var output/pointcloud)"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
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