Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

fix: use ring_outlier_filter_node_param #324

Merged
merged 2 commits into from
Oct 3, 2024
Merged

fix: use ring_outlier_filter_node_param #324

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
34be7e9
Fixed ring_outlier_filter_node_param
SakodaShintaro Oct 3, 2024
d4f1e11
ci(pre-commit): autofix
pre-commit-ci[bot] Oct 3, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
18 changes: 12 additions & 6 deletions common_sensor_launch/launch/nebula_node_container.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,7 @@
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 @@ -221,13 +222,18 @@ def create_parameter_dict(*args):
)
)

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):
ring_outlier_filter_parameters = {"output_frame": LaunchConfiguration("frame_id")}
if LaunchConfiguration("output_as_sensor_frame").perform(context).lower() == "true":
ring_outlier_output_frame = {"output_frame": LaunchConfiguration("frame_id")}
else:
ring_outlier_filter_parameters = {
"output_frame": ""
} # keep the output frame as the input frame
# keep the output frame as the input frame
ring_outlier_output_frame = {"output_frame": ""}

nodes.append(
ComposableNode(
package="autoware_pointcloud_preprocessor",
Expand All @@ -237,7 +243,7 @@ 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")}],
)
)
Expand Down
Loading