Merge pull request autowarefoundation#764 from tier4/hotfix/perceptio…

…n/refactor_pointcloud_container feat(perception): refactor pointcloud container
maxime-clem · Feb 2, 2024 · 4759291 · 4759291
2 parents fa9eb67 + b7bc839
commit 4759291
Show file tree

Hide file tree

Showing 5 changed files with 20 additions and 9 deletions.
diff --git a/...g/perception/object_recognition/detection/lidar_model/detection_class_remapper.param.yaml b/...g/perception/object_recognition/detection/lidar_model/detection_class_remapper.param.yaml
@@ -29,9 +29,9 @@
     max_area_matrix:
       #UNKNOWN, CAR,   TRUCK,  BUS,    TRAILER,   MOTORBIKE, BICYCLE, PEDESTRIAN
       [ 0.000,  0.000,  0.000,  0.000,   0.000,   0.000,     0.000,   0.000,      #UNKNOWN
-        0.000,  0.000, 36.000,  0.000,     inf,   0.000,     0.000,   0.000,      #CAR
-        0.000,  0.000,  0.000,  0.000,     inf,   0.000,     0.000,   0.000,      #TRUCK
-        0.000,  0.000,  0.000,  0.000,     inf,   0.000,     0.000,   0.000,      #BUS
+        0.000,  0.000, 36.000,  0.000, 999.999,   0.000,     0.000,   0.000,      #CAR
+        0.000,  0.000,  0.000,  0.000, 999.999,   0.000,     0.000,   0.000,      #TRUCK
+        0.000,  0.000,  0.000,  0.000, 999.999,   0.000,     0.000,   0.000,      #BUS
         0.000,  0.000,  0.000,  0.000,   0.000,   0.000,     0.000,   0.000,      #TRAILER
         0.000,  0.000,  0.000,  0.000,   0.000,   0.000,     0.000,   0.000,      #MOTORBIKE
         0.000,  0.000,  0.000,  0.000,   0.000,   0.000,     0.000,   0.000,      #BICYCLE

diff --git a/autoware_launch/launch/components/tier4_localization_component.launch.xml b/autoware_launch/launch/components/tier4_localization_component.launch.xml
@@ -4,15 +4,19 @@
   <arg name="pose_source" default="ndt" description="select pose_estimator: ndt, yabloc, eagleye"/>
   <arg name="twist_source" default="gyro_odom" description="select twist_estimator. gyro_odom, eagleye"/>
   <arg name="input_pointcloud" default="/sensing/lidar/top/pointcloud" description="The topic will be used in the localization util module"/>
+  <arg
+    name="lidar_container_name"
+    default="/sensing/lidar/top/pointcloud_preprocessor/pointcloud_container"
+    description="The target container to which lidar preprocessing nodes in localization be attached"
+  />
 
   <group>
     <include file="$(find-pkg-share tier4_localization_launch)/launch/localization.launch.xml">
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-      <arg name="pointcloud_container_name" value="/sensing/lidar/top/pointcloud_preprocessor/pointcloud_container"/>
       <arg name="pose_source" value="$(var pose_source)"/>
       <arg name="twist_source" value="$(var twist_source)"/>
       <arg name="system_run_mode" value="$(var system_run_mode)"/>
       <arg name="input_pointcloud" value="$(var input_pointcloud)"/>
+      <arg name="lidar_container_name" value="$(var lidar_container_name)"/>
 
       <!-- parameter paths for common -->
       <arg name="crop_box_filter_measurement_range_param_path" value="$(var loc_config_path)/crop_box_filter_measurement_range.param.yaml"/>

diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -15,7 +15,6 @@
   <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
     <arg name="mode" value="$(var perception_mode)"/>
     <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
-    <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
     <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     <arg name="enable_fine_detection" value="$(var traffic_light_recognition/enable_fine_detection)"/>
     <arg name="occupancy_grid_map_method" value="$(var occupancy_grid_map_method)"/>

diff --git a/autoware_launch/launch/components/tier4_sensing_component.launch.xml b/autoware_launch/launch/components/tier4_sensing_component.launch.xml
@@ -5,7 +5,7 @@
     <arg name="sensor_model" value="$(var sensor_model)"/>
     <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
     <arg name="vehicle_mirror_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/mirror.param.yaml"/>
-    <arg name="use_pointcloud_container" value="false"/>
+    <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
     <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
   </include>
 </launch>
diff --git a/autoware_launch/launch/pointcloud_container.launch.py b/autoware_launch/launch/pointcloud_container.launch.py
@@ -19,6 +19,7 @@
 from launch.conditions import UnlessCondition
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import ComposableNodeContainer
+from launch_ros.descriptions import ComposableNode
 
 
 def generate_launch_description():
@@ -37,13 +38,20 @@ def add_launch_arg(name: str, default_value=None):
         condition=IfCondition(LaunchConfiguration("use_multithread")),
     )
 
+    glog_component = ComposableNode(
+        package="glog_component",
+        plugin="GlogComponent",
+        name="glog_component",
+        namespace="pointcloud_container",
+    )
+
     pointcloud_container = ComposableNodeContainer(
         name=LaunchConfiguration("container_name"),
         namespace="/",
         package="rclcpp_components",
         executable=LaunchConfiguration("container_executable"),
-        composable_node_descriptions=[],
-        output="screen",
+        composable_node_descriptions=[glog_component],
+        output="both",
     )
 
     return LaunchDescription(