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fix(autoware_pointcloud_preprocessor): launch file load parameter from yaml #8129

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merged 9 commits into from
Nov 7, 2024
Merged

fix(autoware_pointcloud_preprocessor): launch file load parameter from yaml #8129

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198ad8a
feat: fix launch file
vividf Jul 22, 2024
f36d623
chore: fix spell error
vividf Jul 22, 2024
2d171b9
Merge branch 'main' into feature/fix_pointcloud_preprocessor_launch_f…
vividf Aug 16, 2024
ad8381a
Merge branch 'main' into feature/fix_pointcloud_preprocessor_launch_f…
vividf Aug 16, 2024
390abbf
chore: fix parameters file name
vividf Aug 16, 2024
749f21f
Merge branch 'feature/fix_pointcloud_preprocessor_launch_files' of gi…
vividf Aug 16, 2024
93faf4f
Merge branch 'main' into feature/fix_pointcloud_preprocessor_launch_f…
vividf Oct 22, 2024
5f53886
Merge branch 'main' into feature/fix_pointcloud_preprocessor_launch_f…
vividf Nov 7, 2024
b97aad8
chore: remove filter base
vividf Nov 7, 2024
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12 changes: 2 additions & 10 deletions sensing/autoware_pointcloud_preprocessor/launch/polygon_remover.launch.py
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[imho]
I think it's better to use launch_arguments.append(DeclareLaunchArgument(name, default_value=default_value)) to enable launch args so that user can give parameter file from outside of this launcher. (But you can do this in another PR.)

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@vividf vividf Nov 7, 2024 •
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Sorry for the late reply!

I understand your concern for consistency.
However, using that makes the launcher more complex than before (and 15 -20 lines more)

I would like to keep it for this PR. If it is really needed, let me work on it on another PR :)

Thanks!

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If it is really needed, let me work on it on another PR :)

I agree! Thanks for your reply!

Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,7 @@
import launch
from launch_ros.actions import ComposableNodeContainer
from launch_ros.descriptions import ComposableNode
import yaml
from launch_ros.parameter_descriptions import ParameterFile


def generate_launch_description():
Expand All @@ -29,19 +29,11 @@ def generate_launch_description():
get_package_share_directory("autoware_vehicle_info_utils"), "config/polygon_remover.yaml"
)

with open(param_file, "r") as f:
polygon_remover_param = yaml.safe_load(f)["/**"]["ros__parameters"]

my_component = ComposableNode(
package=pkg,
plugin="autoware::pointcloud_preprocessor::PolygonRemoverComponent",
name="polygon_remover",
parameters=[
{
"polygon_vertices": polygon_remover_param["polygon_vertices"],
"will_visualize": polygon_remover_param["will_visualize"],
}
],
parameters=[ParameterFile(param_file, allow_substs=True)],
)

# set container to run all required components in the same process
Expand Down
101 changes: 85 additions & 16 deletions sensing/autoware_pointcloud_preprocessor/launch/preprocessor.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +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 LogInfo
Expand All @@ -20,6 +23,7 @@
from launch.substitutions import PythonExpression
from launch_ros.actions import ComposableNodeContainer
from launch_ros.descriptions import ComposableNode
from launch_ros.parameter_descriptions import ParameterFile


def launch_setup(context, *args, **kwargs):
Expand All @@ -33,91 +37,107 @@
separate_concatenate_node_and_time_sync_node.lower() == "true"
)

concatenate_and_time_sync_node_param = ParameterFile(
param_file=LaunchConfiguration("concatenate_and_time_sync_node_param_path").perform(
context
),
allow_substs=True,
)
concatenate_pointclouds_node_param = ParameterFile(
param_file=LaunchConfiguration("concatenate_pointclouds_node_param_path").perform(context),
allow_substs=True,
)
time_synchronizer_node_param = ParameterFile(
param_file=LaunchConfiguration("time_synchronizer_node_param_path").perform(context),
allow_substs=True,
)
filter_base_param = ParameterFile(
param_file=LaunchConfiguration("filter_base_param_path").perform(context),
allow_substs=True,
)
crop_box_filter_node_param = ParameterFile(
param_file=LaunchConfiguration("crop_box_filter_node_param_path").perform(context),
allow_substs=True,
)

if not is_separate_concatenate_node_and_time_sync_node:
sync_and_concat_component = ComposableNode(
package=pkg,
plugin="autoware::pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
name="sync_and_concatenate_filter",
remappings=[
("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
("output", "points_raw/concatenated"),
],
parameters=[
concatenate_and_time_sync_node_param,
{
"input_topics": LaunchConfiguration("input_points_raw_list"),
"output_frame": LaunchConfiguration("tf_output_frame"),
"approximate_sync": True,
"publish_synchronized_pointcloud": False,
"input_twist_topic_type": "twist",
}
},
],
)
concat_components = [sync_and_concat_component]
else:
time_sync_component = ComposableNode(
package=pkg,
plugin="autoware::pointcloud_preprocessor::PointCloudDataSynchronizerComponent",
name="synchronizer_filter",
remappings=[
("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
("output", "points_raw/concatenated"),
],
parameters=[
time_synchronizer_node_param,
{
"input_topics": LaunchConfiguration("input_points_raw_list"),
"output_frame": LaunchConfiguration("tf_output_frame"),
"approximate_sync": True,
}
},
],
)

concat_component = ComposableNode(
package=pkg,
plugin="autoware::pointcloud_preprocessor::PointCloudConcatenationComponent",
name="concatenate_filter",
remappings=[("output", "points_raw/concatenated")],
parameters=[
concatenate_pointclouds_node_param,
{
"input_topics": LaunchConfiguration("input_points_raw_list"),
"output_frame": LaunchConfiguration("tf_output_frame"),
"approximate_sync": True,
}
},
],
)
concat_components = [time_sync_component, concat_component]

# set crop box filter as a component
cropbox_component = ComposableNode(
package=pkg,
plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent",
name="crop_box_filter",
remappings=[
(
"input",
PythonExpression(
[
"'points_raw/concatenated' if len(",
LaunchConfiguration("input_points_raw_list"),
") > 1 else ",
LaunchConfiguration("input_points_raw_list"),
"[0]",
]
),
),
("output", LaunchConfiguration("output_points_raw")),
],
parameters=[
filter_base_param,
crop_box_filter_node_param,
{
"input_frame": LaunchConfiguration("tf_output_frame"),
"output_frame": LaunchConfiguration("tf_output_frame"),
"min_x": -200.0,
"max_x": 1000.0,
"min_y": -50.0,
"max_y": 50.0,
"min_z": -2.0,
"max_z": 3.0,
"negative": False,
}
},

Check warning on line 140 in sensing/autoware_pointcloud_preprocessor/launch/preprocessor.launch.py

View check run for this annotation

CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ Getting worse: Large Method 

launch_setup increases from 111 to 126 lines of code, threshold = 70. Large functions with many lines of code are generally harder to understand and lower the code health. Avoid adding more lines to this function.
],
)

Expand Down Expand Up @@ -146,6 +166,9 @@

def generate_launch_description():
launch_arguments = []
autoware_pointcloud_preprocessor_share_dir = get_package_share_directory(
"autoware_pointcloud_preprocessor"
)

def add_launch_arg(name: str, default_value=None, description=None):
# a default_value of None is equivalent to not passing that kwarg at all
Expand All @@ -161,6 +184,52 @@
)
add_launch_arg("output_points_raw", "/points_raw/cropbox/filtered")
add_launch_arg("tf_output_frame", "base_link")
add_launch_arg(
"concatenate_and_time_sync_node_param_path",
os.path.join(
autoware_pointcloud_preprocessor_share_dir,
"config",
"concatenate_and_time_sync_node.param.yaml",
),
description="path to parameter file of concatenate and time sync node",
)
add_launch_arg(
"concatenate_pointclouds_node_param_path",
os.path.join(
autoware_pointcloud_preprocessor_share_dir,
"config",
"concatenate_pointclouds.param.yaml",
),
description="path to parameter file of concatenate pointclouds node",
)
add_launch_arg(
"time_synchronizer_node_param_path",
os.path.join(
autoware_pointcloud_preprocessor_share_dir,
"config",
"time_synchronizer_node.param.yaml",
),
description="path to parameter file of time synchronizer node",
)
add_launch_arg(
"filter_base_param_path",
os.path.join(
autoware_pointcloud_preprocessor_share_dir,
"config",
"filter.param.yaml",
),
description="path to parameter file of filter base",
)
add_launch_arg(
"crop_box_filter_node_param_path",
os.path.join(
autoware_pointcloud_preprocessor_share_dir,
"config",
"crop_box_filter.param.yaml",
),
description="path to parameter file of crop box filter node",
)

add_launch_arg(
"separate_concatenate_node_and_time_sync_node",
"true",
Expand Down
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