feat: change input topic of localization and perception module to out…

…lier_filtered/pointcloud (autowarefoundation#215) * change localization util input topic * add arg to input arbitrary lidar topic to perception module * remove default value except autoware and logging launch * add default value in localization and perception launch * remove default value from root launch file * change input_sensor_points_topic to input/pointcloud * cosmetic change Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>
TomohitoAndo · Mar 31, 2022 · 6bb26bd · 6bb26bd
1 parent 8c7f591
commit 6bb26bd
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Showing 9 changed files with 24 additions and 16 deletions.
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
@@ -50,8 +50,7 @@
   </include>
 
   <!-- Localization -->
-  <include file="$(find-pkg-share localization_launch)/launch/localization.launch.xml">
-  </include>
+  <include file="$(find-pkg-share localization_launch)/launch/localization.launch.xml" />
 
   <!-- Perception -->
   <include file="$(find-pkg-share perception_launch)/launch/perception.launch.xml">

diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
@@ -76,8 +76,7 @@
 
   <!-- Localization -->
   <group>
-    <include file="$(find-pkg-share localization_launch)/launch/localization.launch.xml" if="$(var localization)">
-    </include>
+    <include file="$(find-pkg-share localization_launch)/launch/localization.launch.xml" if="$(var localization)" />
   </group>
 
   <!-- Perception -->

diff --git a/localization_launch/launch/localization.launch.xml b/localization_launch/launch/localization.launch.xml
@@ -1,12 +1,14 @@
 <?xml version="1.0"?>
 <launch>
+  <arg name="input/pointcloud" default="/sensing/lidar/pointcloud" description="The topic will be used in the localization util module" />
   <!-- localization module -->
   <group>
     <push-ros-namespace namespace="localization"/>
     <!-- util module -->
     <group>
       <push-ros-namespace namespace="util"/>
       <include file="$(find-pkg-share localization_launch)/launch/util/util.launch.xml">
+        <arg name="input/pointcloud" value="$(var input/pointcloud)" />
       </include>
     </group>
     <!-- pose_estimator module -->

diff --git a/localization_launch/launch/util/util.launch.py b/localization_launch/launch/util/util.launch.py
@@ -34,7 +34,7 @@ def load_composable_node_param(param_path):
         plugin="pointcloud_preprocessor::CropBoxFilterComponent",
         name="crop_box_filter_measurement_range",
         remappings=[
-            ("input", LaunchConfiguration("input_sensor_points_topic")),
+            ("input", LaunchConfiguration("input/pointcloud")),
             ("output", LaunchConfiguration("output_measurement_range_sensor_points_topic")),
         ],
         parameters=[
@@ -111,11 +111,6 @@ def add_launch_arg(name: str, default_value=None, description=None):
         "/sensing/lidar/top/pointcloud_preprocessor/velodyne_node_container",
         "container name",
     )
-    add_launch_arg(
-        "input_sensor_points_topic",
-        "/sensing/lidar/top/rectified/pointcloud",
-        "input topic name for raw pointcloud",
-    )
     add_launch_arg(
         "output_measurement_range_sensor_points_topic",
         "measurement_range/pointcloud",

diff --git a/localization_launch/launch/util/util.launch.xml b/localization_launch/launch/util/util.launch.xml
@@ -2,13 +2,13 @@
 <launch>
 
   <!-- Topics -->
-  <arg name="input_sensor_points_topic" default="/sensing/lidar/top/rectified/pointcloud" description="input topic name for raw pointcloud"/>
+  <arg name="input/pointcloud" description="input topic name for raw pointcloud"/>
   <arg name="output_measurement_range_sensor_points_topic" default="measurement_range/pointcloud" description="output topic name for crop box filter"/>
   <arg name="output_voxel_grid_downsample_sensor_points_topic" default="voxel_grid_downsample/pointcloud" description="output topic name for voxel grid downsample filter"/>
   <arg name="output_downsample_sensor_points_topic" default="downsample/pointcloud" description="output topic name for downsample filter. this is final output"/>
 
   <!-- container -->
-  <arg name="container" default="/sensing/lidar/top/pointcloud_preprocessor/velodyne_node_container"  description="container name"/>
+  <arg name="container" default="/sensing/lidar/top/pointcloud_preprocessor/velodyne_node_container" description="container name"/>
 
   <!-- option -->
   <arg name="use_intra_process" default="true" description="use ROS2 component container communication"/>

diff --git a/...launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/...launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
@@ -1,5 +1,6 @@
 <?xml version="1.0"?>
 <launch>
+  <arg name="input/pointcloud" />
   <arg name="image_raw0" default="/image_raw" description="image raw topic name"/>
   <arg name="camera_info0" default="/camera_info" description="camera info topic name"/>
   <arg name="image_raw1" default="/image_raw1"/>
@@ -110,6 +111,7 @@
   <group if="$(eval &quot;'$(var lidar_detection_model)'=='centerpoint'&quot;)">
     <push-ros-namespace namespace="centerpoint"/>
     <include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml">
+      <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="output/objects" value="objects" />
     </include>
   </group>
@@ -118,7 +120,9 @@
   <group if="$(eval &quot;'$(var lidar_detection_model)'=='apollo'&quot;)">
     <push-ros-namespace namespace="apollo"/>
     <group>
-      <include file="$(find-pkg-share lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch.xml" />
+      <include file="$(find-pkg-share lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch.xml">
+        <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
+      </include>
       <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
         <arg name="output/objects" value="objects_with_feature"/>
         <arg name="use_vehicle_reference_yaw" value="true"/>

diff --git a/perception_launch/launch/object_recognition/detection/detection.launch.xml b/perception_launch/launch/object_recognition/detection/detection.launch.xml
@@ -1,6 +1,7 @@
 <?xml version="1.0"?>
 
 <launch>
+  <arg name="input/pointcloud" />
   <arg name="mode" default="camera_lidar_fusion" description="options: `camera_lidar_fusion`, `lidar` or `camera`"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
   <!-- "camera_lidar_fusion", "lidar" or "camera" -->
@@ -26,6 +27,7 @@
   <!-- camera lidar fusion based detection-->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_fusion&quot;')">
     <include file="$(find-pkg-share perception_launch)/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml">
+      <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="image_raw0" value="$(var image_raw0)"/>
       <arg name="camera_info0" value="$(var camera_info0)"/>
       <arg name="image_raw1" value="$(var image_raw1)"/>
@@ -50,6 +52,7 @@
   <!-- lidar based detection-->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;lidar&quot;')">
     <include file="$(find-pkg-share perception_launch)/launch/object_recognition/detection/lidar_based_detection.launch.xml">
+      <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
     </include>

diff --git a/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <launch>
+  <arg name="input/pointcloud" />
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
   <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
-  <arg name="input_pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
 
   <!-- Pointcloud map filter -->
   <group>
@@ -37,15 +37,19 @@
   <group if="$(eval &quot;'$(var lidar_detection_model)'=='centerpoint'&quot;)">
     <push-ros-namespace namespace="centerpoint"/>
     <group>
-      <include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml" />
+      <include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml">
+        <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
+      </include>
     </group>
   </group>
 
   <!-- Lidar Apollo Instance Segmentation -->
   <group if="$(eval &quot;'$(var lidar_detection_model)'=='apollo'&quot;)">
     <push-ros-namespace namespace="apollo"/>
     <group>
-      <include file="$(find-pkg-share lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch.xml" />
+      <include file="$(find-pkg-share lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch.xml">
+        <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
+      </include>
       <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
         <arg name="output/objects" value="objects_with_feature"/>
         <arg name="use_vehicle_reference_yaw" value="true"/>

diff --git a/perception_launch/launch/perception.launch.xml b/perception_launch/launch/perception.launch.xml
@@ -3,6 +3,7 @@
 <launch>
   <!-- common parameters -->
   <arg name="mode" default="camera_lidar_fusion" description="options: `camera_lidar_fusion`, `lidar` or `camera`"/>
+  <arg name="input/pointcloud" default="/sensing/lidar/pointcloud" description="The topic will be used in the detection module" />
   <arg name="image_raw0" default="/sensing/camera/camera0/image_rect_color" description="image raw topic name"/>
   <arg name="camera_info0" default="/sensing/camera/camera0/camera_info" description="camera info topic name"/>
   <arg name="image_raw1" default="/sensing/camera/camera1/image_rect_color"/>
@@ -64,6 +65,7 @@
         <push-ros-namespace namespace="detection"/>
         <include file="$(find-pkg-share perception_launch)/launch/object_recognition/detection/detection.launch.xml">
           <arg name="mode" value="$(var mode)"/>
+          <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
           <arg name="image_raw0" value="$(var image_raw0)"/>
           <arg name="camera_info0" value="$(var camera_info0)"/>
           <arg name="image_raw1" value="$(var image_raw1)"/>