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refactor(common_sensor_launch, aip_x2_launch, aip_xx1_gen2_launch): radar package names #267

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merged 3 commits into from
Jul 25, 2024
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refactor(common_sensor_launch, aip_x2_launch, aip_xx1_gen2_launch): radar package names #267

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d7989f7
chore: rename radar_tracks_msgs_converter to autoware_radar_tracks_ms…
technolojin Jul 24, 2024
2b56f61
chore: update package dependencies for radar object merging
technolojin Jul 24, 2024
6b42cc5
chore: update package dependencies for radar object merging
technolojin Jul 24, 2024
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2 changes: 1 addition & 1 deletion aip_x2_launch/launch/radar.launch.xml
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Expand Up @@ -59,7 +59,7 @@
</include>
</group>

<include file="$(find-pkg-share simple_object_merger)/launch/simple_object_merger.launch.xml">
<include file="$(find-pkg-share autoware_simple_object_merger)/launch/simple_object_merger.launch.xml">
<arg name="output/objects" value="detected_objects"/>
<arg name="param_path" value="$(find-pkg-share aip_x2_launch)/config/simple_object_merger.param.yaml"/>
</include>
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1 change: 1 addition & 0 deletions aip_x2_launch/package.xml
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Expand Up @@ -11,6 +11,7 @@
<buildtool_depend>ament_cmake_auto</buildtool_depend>

<exec_depend>autoware_pointcloud_preprocessor</exec_depend>
<exec_depend>autoware_simple_object_merger</exec_depend>
<exec_depend>common_sensor_launch</exec_depend>
<exec_depend>dummy_diag_publisher</exec_depend>
<exec_depend>gnss_poser</exec_depend>
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14 changes: 7 additions & 7 deletions aip_xx1_gen2_launch/launch/radar.launch.xml
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Expand Up @@ -56,7 +56,7 @@
<arg name="new_plug_orientation" value="0"/>
</include>

<include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<include file="$(find-pkg-share autoware_radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<arg name="input/radar_objects" value="objects_raw"/>
<arg name="input/odometry" value="$(var odometry_topic)"/>
<arg name="output/radar_detected_objects" value="detected_objects"/>
Expand Down Expand Up @@ -88,7 +88,7 @@
<arg name="new_plug_orientation" value="0"/>
</include>

<include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<include file="$(find-pkg-share autoware_radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<arg name="input/radar_objects" value="objects_raw"/>
<arg name="input/odometry" value="$(var odometry_topic)"/>
<arg name="output/radar_detected_objects" value="detected_objects"/>
Expand Down Expand Up @@ -120,7 +120,7 @@
<arg name="new_plug_orientation" value="0"/>
</include>

<include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<include file="$(find-pkg-share autoware_radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<arg name="input/radar_objects" value="objects_raw"/>
<arg name="input/odometry" value="$(var odometry_topic)"/>
<arg name="output/radar_detected_objects" value="detected_objects"/>
Expand Down Expand Up @@ -152,7 +152,7 @@
<arg name="new_plug_orientation" value="0"/>
</include>

<include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<include file="$(find-pkg-share autoware_radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<arg name="input/radar_objects" value="objects_raw"/>
<arg name="input/odometry" value="$(var odometry_topic)"/>
<arg name="output/radar_detected_objects" value="detected_objects"/>
Expand Down Expand Up @@ -184,7 +184,7 @@
<arg name="new_plug_orientation" value="0"/>
</include>

<include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<include file="$(find-pkg-share autoware_radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<arg name="input/radar_objects" value="objects_raw"/>
<arg name="input/odometry" value="$(var odometry_topic)"/>
<arg name="output/radar_detected_objects" value="detected_objects"/>
Expand Down Expand Up @@ -216,7 +216,7 @@
<arg name="new_plug_orientation" value="0"/>
</include>

<include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<include file="$(find-pkg-share autoware_radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<arg name="input/radar_objects" value="objects_raw"/>
<arg name="input/odometry" value="$(var odometry_topic)"/>
<arg name="output/radar_detected_objects" value="detected_objects"/>
Expand All @@ -227,7 +227,7 @@

<!-- merge radar objects -->
<let name="merger_param_path" value="$(find-pkg-share aip_xx1_gen2_launch)/config/radar_simple_object_merger.param.yaml"/>
<node pkg="simple_object_merger" exec="simple_object_merger_node" name="simple_object_merger" output="screen">
<node pkg="autoware_simple_object_merger" exec="simple_object_merger_node" name="simple_object_merger" output="screen">
<remap from="~/output/objects" to="detected_objects"/>
<param from="$(var merger_param_path)"/>
</node>
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2 changes: 2 additions & 0 deletions aip_xx1_gen2_launch/package.xml
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Expand Up @@ -11,6 +11,8 @@
<buildtool_depend>ament_cmake_auto</buildtool_depend>

<exec_depend>autoware_pointcloud_preprocessor</exec_depend>
<exec_depend>autoware_radar_tracks_msgs_converter</exec_depend>
<exec_depend>autoware_simple_object_merger</exec_depend>
<exec_depend>common_sensor_launch</exec_depend>
<exec_depend>glog_component</exec_depend>
<exec_depend>gnss_poser</exec_depend>
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4 changes: 2 additions & 2 deletions common_sensor_launch/launch/ars408.launch.xml
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Expand Up @@ -40,15 +40,15 @@
</include>

<!-- Noise filter -->
<include file="$(find-pkg-share radar_tracks_noise_filter)/launch/radar_tracks_noise_filter.launch.xml">
<include file="$(find-pkg-share autoware_radar_tracks_noise_filter)/launch/radar_tracks_noise_filter.launch.xml">
<arg name="input/tracks" value="objects_raw"/>
<arg name="output/noise_tracks" value="noise_objects" />
<arg name="output/filtered_tracks" value="filtered_objects" />
<arg name="param_path" value="$(var radar_tracks_noise_filter_param_path)"/>
</include>

<!-- Message converter -->
<include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<include file="$(find-pkg-share autoware_radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<arg name="input/radar_objects" value="filtered_objects"/>
<arg name="input/odometry" value="$(var input/odometry)"/>
<arg name="output/radar_detected_objects" value="detected_objects"/>
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4 changes: 2 additions & 2 deletions common_sensor_launch/package.xml
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Expand Up @@ -12,10 +12,10 @@

<buildtool_depend>ament_cmake_auto</buildtool_depend>

<exec_depend>autoware_radar_tracks_msgs_converter</exec_depend>
<exec_depend>autoware_radar_tracks_noise_filter</exec_depend>
<exec_depend>dummy_diag_publisher</exec_depend>
<exec_depend>nebula_sensor_driver</exec_depend>
<exec_depend>radar_tracks_msgs_converter</exec_depend>
<exec_depend>radar_tracks_noise_filter</exec_depend>
<exec_depend>velodyne_monitor</exec_depend>

<test_depend>ament_lint_auto</test_depend>
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