From db5489e9f5b8bacd71b0a048e6d52e388e2cf2b7 Mon Sep 17 00:00:00 2001
From: vividf <yihsiang.fang@tier4.jp>
Date: Tue, 29 Oct 2024 15:34:26 +0900
Subject: [PATCH] feat: concatenate node load from parameter file

Signed-off-by: vividf <yihsiang.fang@tier4.jp>
---
 .../concatenate_and_time_sync_node.param.yaml | 22 ++++++++++++
 .../launch/pointcloud_preprocessor.launch.py  | 34 ++++++++++++-------
 2 files changed, 44 insertions(+), 12 deletions(-)
 create mode 100644 sample_sensor_kit_launch/config/concatenate_and_time_sync_node.param.yaml

diff --git a/sample_sensor_kit_launch/config/concatenate_and_time_sync_node.param.yaml b/sample_sensor_kit_launch/config/concatenate_and_time_sync_node.param.yaml
new file mode 100644
index 00000000..c5bd139e
--- /dev/null
+++ b/sample_sensor_kit_launch/config/concatenate_and_time_sync_node.param.yaml
@@ -0,0 +1,22 @@
+/**:
+  ros__parameters:
+    debug_mode: false
+    has_static_tf_only: false
+    rosbag_replay: false
+    rosbag_length: 20.0
+    maximum_queue_size: 5
+    timeout_sec: 0.2
+    is_motion_compensated: true
+    publish_synchronized_pointcloud: true
+    keep_input_frame_in_synchronized_pointcloud: true
+    publish_previous_but_late_pointcloud: false
+    synchronized_pointcloud_postfix: pointcloud
+    input_twist_topic_type: twist
+    input_topics: [
+                    "/sensing/lidar/right/pointcloud_before_sync",
+                    "/sensing/lidar/top/pointcloud_before_sync",
+                    "/sensing/lidar/left/pointcloud_before_sync",
+                ]
+    output_frame: base_link
+    lidar_timestamp_offsets: [0.0, 0.015, 0.016]
+    lidar_timestamp_noise_window: [0.01, 0.01, 0.01]
diff --git a/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py b/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py
index c29d74e3..8dbcfc99 100644
--- a/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py
+++ b/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py
@@ -12,7 +12,9 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import os
 
+from ament_index_python.packages import get_package_share_directory
 import launch
 from launch.actions import DeclareLaunchArgument
 from launch.actions import OpaqueFunction
@@ -22,9 +24,18 @@
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import LoadComposableNodes
 from launch_ros.descriptions import ComposableNode
+from launch_ros.parameter_descriptions import ParameterFile
 
 
 def launch_setup(context, *args, **kwargs):
+    # concatenate node parameters
+    concatenate_and_time_sync_node_param = ParameterFile(
+        param_file=LaunchConfiguration("concatenate_and_time_sync_node_param_path").perform(
+            context
+        ),
+        allow_substs=True,
+    )
+
     # set concat filter as a component
     concat_component = ComposableNode(
         package="autoware_pointcloud_preprocessor",
@@ -34,18 +45,7 @@ def launch_setup(context, *args, **kwargs):
             ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
             ("output", "concatenated/pointcloud"),
         ],
-        parameters=[
-            {
-                "input_topics": [
-                    "/sensing/lidar/top/pointcloud_before_sync",
-                    "/sensing/lidar/left/pointcloud_before_sync",
-                    "/sensing/lidar/right/pointcloud_before_sync",
-                ],
-                "output_frame": LaunchConfiguration("base_frame"),
-                "input_twist_topic_type": "twist",
-                "publish_synchronized_pointcloud": True,
-            }
-        ],
+        parameters=[concatenate_and_time_sync_node_param],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )
 
@@ -65,10 +65,20 @@ def generate_launch_description():
     def add_launch_arg(name: str, default_value=None):
         launch_arguments.append(DeclareLaunchArgument(name, default_value=default_value))
 
+    sample_sensor_kit_launch_share_dir = get_package_share_directory("sample_sensor_kit_launch")
+
     add_launch_arg("base_frame", "base_link")
     add_launch_arg("use_multithread", "False")
     add_launch_arg("use_intra_process", "False")
     add_launch_arg("pointcloud_container_name", "pointcloud_container")
+    add_launch_arg(
+        "concatenate_and_time_sync_node_param_path",
+        os.path.join(
+            sample_sensor_kit_launch_share_dir,
+            "config",
+            "concatenate_and_time_sync_node.param.yaml",
+        ),
+    )
 
     set_container_executable = SetLaunchConfiguration(
         "container_executable",