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refactor(nebula_node_container): support Nebula single-node architecture #97

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refactor(nebula_node_container): support Nebula single-node architecture #97

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794e3cf
feat(nebula_node_container): support Nebula single-node architecture
mojomex Jul 18, 2024
51979c4
style(pre-commit): autofix
pre-commit-ci[bot] Jul 18, 2024
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90 changes: 34 additions & 56 deletions common_sensor_launch/launch/nebula_node_container.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,7 @@
# limitations under the License.

import os
from pathlib import Path

from ament_index_python.packages import get_package_share_directory
import launch
Expand All @@ -31,10 +32,10 @@

def get_lidar_make(sensor_name):
if sensor_name[:6].lower() == "pandar":
return "Hesai", ".csv"
return "Hesai"
elif sensor_name[:3].lower() in ["hdl", "vlp", "vls"]:
return "Velodyne", ".yaml"
return "unrecognized_sensor_model"
return "Velodyne"
raise ValueError("Unrecognized sensor model")


def get_vehicle_info(context):
Expand Down Expand Up @@ -71,19 +72,25 @@ def create_parameter_dict(*args):

# Model and make
sensor_model = LaunchConfiguration("sensor_model").perform(context)
sensor_make, sensor_extension = get_lidar_make(sensor_model)
nebula_decoders_share_dir = get_package_share_directory("nebula_decoders")

# Calibration file
sensor_calib_fp = os.path.join(
nebula_decoders_share_dir,
"calibration",
sensor_make.lower(),
sensor_model + sensor_extension,
sensor_make = get_lidar_make(sensor_model)

# Configuration file containing sensor model's default parameters

sensor_config = LaunchConfiguration("config_file").perform(context)
if sensor_config == "":
sensor_config = (
Path(get_package_share_directory("nebula_ros"))
/ "config"
/ "lidar"
/ sensor_make.lower()
/ (sensor_model + ".param.yaml")
)
else:
sensor_config = Path(sensor_config)

assert sensor_config.exists(), "Sensor configuration not found: {}".format(
sensor_config.absolute().as_posix()
)
assert os.path.exists(
sensor_calib_fp
), "Sensor calib file under calibration/ was not found: {}".format(sensor_calib_fp)

# Pointcloud preprocessor parameters
distortion_corrector_node_param = ParameterFile(
Expand All @@ -104,23 +111,28 @@ def create_parameter_dict(*args):
nodes.append(
ComposableNode(
package="nebula_ros",
plugin=sensor_make + "DriverRosWrapper",
name=sensor_make.lower() + "_driver_ros_wrapper_node",
plugin=sensor_make + "RosWrapper",
name=sensor_make.lower() + "_ros_wrapper_node",
parameters=[
ParameterFile(sensor_config, allow_substs=True),
{
"calibration_file": sensor_calib_fp,
"sensor_model": sensor_model,
"launch_hw": LaunchConfiguration("launch_driver"),
**create_parameter_dict(
"host_ip",
"sensor_ip",
"data_port",
"return_mode",
"gnss_port",
"packet_mtu_size",
"setup_sensor",
"frame_id",
"min_range",
"max_range",
"frame_id",
"scan_phase",
"cloud_min_angle",
"cloud_max_angle",
"scan_phase",
"rotation_speed",
"return_mode",
"dual_return_distance_threshold",
),
},
Expand Down Expand Up @@ -228,41 +240,7 @@ def create_parameter_dict(*args):
output="both",
)

driver_component = ComposableNode(
package="nebula_ros",
plugin=sensor_make + "HwInterfaceRosWrapper",
# node is created in a global context, need to avoid name clash
name=sensor_make.lower() + "_hw_interface_ros_wrapper_node",
parameters=[
{
"sensor_model": sensor_model,
"calibration_file": sensor_calib_fp,
**create_parameter_dict(
"sensor_ip",
"host_ip",
"scan_phase",
"return_mode",
"frame_id",
"rotation_speed",
"data_port",
"gnss_port",
"cloud_min_angle",
"cloud_max_angle",
"packet_mtu_size",
"dual_return_distance_threshold",
"setup_sensor",
),
}
],
)

driver_component_loader = LoadComposableNodes(
composable_node_descriptions=[driver_component],
target_container=container,
condition=IfCondition(LaunchConfiguration("launch_driver")),
)

return [container, driver_component_loader]
return [container]


def generate_launch_description():
Expand Down