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chore(aip_x2_gen2_launch): use parameter file for ring_outlier_filter #385

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Feb 3, 2025
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chore(aip_x2_gen2_launch): use parameter file for ring_outlier_filter #385

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19 changes: 19 additions & 0 deletions aip_x2_gen2_launch/launch/nebula_node_container.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -26,6 +26,7 @@
from launch_ros.actions import ComposableNodeContainer
from launch_ros.actions import LoadComposableNodes
from launch_ros.descriptions import ComposableNode
from launch_ros.parameter_descriptions import ParameterFile
from launch_ros.substitutions import FindPackageShare
import yaml

Expand Down Expand Up @@ -161,6 +162,18 @@ def str2vector(string):
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
)

ring_outlier_filter_node_param = ParameterFile(
param_file=LaunchConfiguration("ring_outlier_filter_node_param_file").perform(context),
allow_substs=True,
)

# 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_output_frame = {"output_frame": LaunchConfiguration("frame_id")}
else:
# keep the output frame as the input frame
ring_outlier_output_frame = {"output_frame": ""}

ring_outlier_filter_component = ComposableNode(
package="autoware_pointcloud_preprocessor",
plugin="autoware::pointcloud_preprocessor::RingOutlierFilterComponent",
Expand All @@ -169,6 +182,7 @@ def str2vector(string):
("input", "rectified/pointcloud_ex"),
("output", "pointcloud"),
],
parameters=[ring_outlier_filter_node_param, ring_outlier_output_frame],
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
)

Expand Down Expand Up @@ -298,6 +312,10 @@ def add_launch_arg(name: str, default_value=None, description=None):
"blockage_diagnostics_param_file",
[FindPackageShare("common_sensor_launch"), "/config/blockage_diagnostics.param.yaml"],
)
add_launch_arg(
"ring_outlier_filter_node_param_file",
[FindPackageShare("common_sensor_launch"), "/config/ring_outlier_filter_node.param.yaml"],
)
add_launch_arg(
"distortion_corrector_node_param_file",
[FindPackageShare("common_sensor_launch"), "/config/distortion_corrector_node.param.yaml"],
Expand All @@ -312,6 +330,7 @@ def add_launch_arg(name: str, default_value=None, description=None):
add_launch_arg("point_filters_param_file")

add_launch_arg("calibration_file", "")
add_launch_arg("output_as_sensor_frame", "True", "output final pointcloud in sensor frame")

set_container_executable = SetLaunchConfiguration(
"container_executable",
Expand Down
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