refactor(autoware_pointcloud_preprocessor): rework pointcloud accumul…

…ator parameters (autowarefoundation#8487) * feat: rework pointcloud accumulator parameters Signed-off-by: vividf <[email protected]> * chore: add explicit cast Signed-off-by: vividf <[email protected]> * chore: add boundary Signed-off-by: vividf <[email protected]> --------- Signed-off-by: vividf <[email protected]> Signed-off-by: Batuhan Beytekin <[email protected]>
batuhanbeytekin · Sep 12, 2024 · ae2ee04 · ae2ee04
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Showing 7 changed files with 70 additions and 13 deletions.
diff --git a/sensing/autoware_pointcloud_preprocessor/CMakeLists.txt b/sensing/autoware_pointcloud_preprocessor/CMakeLists.txt
@@ -77,7 +77,7 @@ ament_auto_add_library(pointcloud_preprocessor_filter SHARED
   src/passthrough_filter/passthrough_filter_node.cpp
   src/passthrough_filter/passthrough_filter_uint16_node.cpp
   src/passthrough_filter/passthrough_uint16.cpp
-  src/pointcloud_accumulator/pointcloud_accumulator_nodelet.cpp
+  src/pointcloud_accumulator/pointcloud_accumulator_node.cpp
   src/vector_map_filter/lanelet2_map_filter_node.cpp
   src/distortion_corrector/distortion_corrector.cpp
   src/distortion_corrector/distortion_corrector_node.cpp

diff --git a/sensing/autoware_pointcloud_preprocessor/config/pointcloud_accumulator_node.param.yaml b/sensing/autoware_pointcloud_preprocessor/config/pointcloud_accumulator_node.param.yaml
@@ -0,0 +1,4 @@
+/**:
+  ros__parameters:
+    accumulation_time_sec: 2.0
+    pointcloud_buffer_size: 50
diff --git a/sensing/autoware_pointcloud_preprocessor/docs/pointcloud-accumulator.md b/sensing/autoware_pointcloud_preprocessor/docs/pointcloud-accumulator.md
@@ -24,10 +24,7 @@ The `pointcloud_accumulator` is a node that accumulates pointclouds for a given
 
 ### Core Parameters
 
-| Name                     | Type   | Default Value | Description             |
-| ------------------------ | ------ | ------------- | ----------------------- |
-| `accumulation_time_sec`  | double | 2.0           | accumulation period [s] |
-| `pointcloud_buffer_size` | int    | 50            | buffer size             |
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/pointcloud_accumulator_node.schema.json") }}
 
 ## Assumptions / Known limits
 

diff --git a/...ulator/pointcloud_accumulator_nodelet.hpp → ...cumulator/pointcloud_accumulator_node.hpp b/...ulator/pointcloud_accumulator_nodelet.hpp → ...cumulator/pointcloud_accumulator_node.hpp
@@ -1,4 +1,4 @@
-// Copyright 2020 Tier IV, Inc.
+// Copyright 2024 TIER IV, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__POINTCLOUD_ACCUMULATOR__POINTCLOUD_ACCUMULATOR_NODELET_HPP_  // NOLINT
-#define AUTOWARE__POINTCLOUD_PREPROCESSOR__POINTCLOUD_ACCUMULATOR__POINTCLOUD_ACCUMULATOR_NODELET_HPP_  // NOLINT
+#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__POINTCLOUD_ACCUMULATOR__POINTCLOUD_ACCUMULATOR_NODE_HPP_  // NOLINT
+#define AUTOWARE__POINTCLOUD_PREPROCESSOR__POINTCLOUD_ACCUMULATOR__POINTCLOUD_ACCUMULATOR_NODE_HPP_  // NOLINT
 
 #include "autoware/pointcloud_preprocessor/filter.hpp"
 
@@ -46,5 +46,5 @@ class PointcloudAccumulatorComponent : public autoware::pointcloud_preprocessor:
 }  // namespace autoware::pointcloud_preprocessor
 
 // clang-format off
-#endif  // AUTOWARE__POINTCLOUD_PREPROCESSOR__POINTCLOUD_ACCUMULATOR__POINTCLOUD_ACCUMULATOR_NODELET_HPP_  // NOLINT
+#endif  // AUTOWARE__POINTCLOUD_PREPROCESSOR__POINTCLOUD_ACCUMULATOR__POINTCLOUD_ACCUMULATOR_NODE_HPP_  // NOLINT
 // clang-format on
diff --git a/sensing/autoware_pointcloud_preprocessor/launch/pointcloud_accumulator_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/pointcloud_accumulator_node.launch.xml
@@ -0,0 +1,16 @@
+<launch>
+  <arg name="input_topic_name" default="/sensing/lidar/top/pointcloud"/>
+  <arg name="output_topic_name" default="/sensing/lidar/top/pointcloud_accumulated"/>
+  <arg name="input_frame" default="base_link"/>
+  <arg name="output_frame" default="base_link"/>
+  <arg name="pointcloud_accumulator_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/pointcloud_accumulator_node.param.yaml"/>
+  <arg name="filter_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/filter.param.yaml"/>
+  <node pkg="autoware_pointcloud_preprocessor" exec="pointcloud_accumulator_node" name="pointcloud_accumulator_node">
+    <param from="$(var pointcloud_accumulator_param_file)"/>
+    <param from="$(var filter_param_file)"/>
+    <remap from="input" to="$(var input_topic_name)"/>
+    <remap from="output" to="$(var output_topic_name)"/>
+    <param name="input_frame" value="$(var input_frame)"/>
+    <param name="output_frame" value="$(var output_frame)"/>
+  </node>
+</launch>
diff --git a/sensing/autoware_pointcloud_preprocessor/schema/pointcloud_accumulator_node.schema.json b/sensing/autoware_pointcloud_preprocessor/schema/pointcloud_accumulator_node.schema.json
@@ -0,0 +1,40 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Pointcloud Accumulator Node",
+  "type": "object",
+  "definitions": {
+    "pointcloud_accumulator": {
+      "type": "object",
+      "properties": {
+        "accumulation_time_sec": {
+          "type": "number",
+          "description": "accumulation period [s]",
+          "default": "2.0",
+          "minimum": 0
+        },
+        "pointcloud_buffer_size": {
+          "type": "integer",
+          "description": "buffer size",
+          "default": "50",
+          "minimum": 0
+        }
+      },
+      "required": ["accumulation_time_sec", "pointcloud_buffer_size"],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/pointcloud_accumulator"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}
diff --git a/...ulator/pointcloud_accumulator_nodelet.cpp → ...cumulator/pointcloud_accumulator_node.cpp b/...ulator/pointcloud_accumulator_nodelet.cpp → ...cumulator/pointcloud_accumulator_node.cpp
@@ -1,4 +1,4 @@
-// Copyright 2020 Tier IV, Inc.
+// Copyright 2024 TIER IV, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware/pointcloud_preprocessor/pointcloud_accumulator/pointcloud_accumulator_nodelet.hpp"
+#include "autoware/pointcloud_preprocessor/pointcloud_accumulator/pointcloud_accumulator_node.hpp"
 
 #include <vector>
 
@@ -23,9 +23,9 @@ PointcloudAccumulatorComponent::PointcloudAccumulatorComponent(const rclcpp::Nod
 {
   // set initial parameters
   {
-    accumulation_time_sec_ = static_cast<double>(declare_parameter("accumulation_time_sec", 2.0));
+    accumulation_time_sec_ = declare_parameter<double>("accumulation_time_sec");
     pointcloud_buffer_.set_capacity(
-      static_cast<size_t>(declare_parameter("pointcloud_buffer_size", 50)));
+      static_cast<size_t>(declare_parameter<int64_t>("pointcloud_buffer_size")));
   }
 
   using std::placeholders::_1;