refactor(autoware_pointcloud_preprocessor): rework concatenate_pointcloud and time_synchronizer_node parameters

sensing/autoware_pointcloud_preprocessor/CMakeLists.txt

@@ -64,7 +64,7 @@ ament_target_dependencies(faster_voxel_grid_downsample_filter
 ament_auto_add_library(pointcloud_preprocessor_filter SHARED
   src/concatenate_data/concatenate_and_time_sync_nodelet.cpp
   src/concatenate_data/concatenate_pointclouds.cpp
-  src/time_synchronizer/time_synchronizer_nodelet.cpp
+  src/time_synchronizer/time_synchronizer_node.cpp
   src/crop_box_filter/crop_box_filter_nodelet.cpp
   src/downsample_filter/voxel_grid_downsample_filter_node.cpp
   src/downsample_filter/random_downsample_filter_nodelet.cpp

sensing/autoware_pointcloud_preprocessor/config/concatenate_pointclouds.param.yaml

@@ -0,0 +1,11 @@
+/**:
+  ros__parameters:
+    output_frame: base_link
+    input_topics: [
+                    "/sensing/lidar/left/pointcloud_before_sync",
+                    "/sensing/lidar/right/pointcloud_before_sync",
+                    "/sensing/lidar/top/pointcloud_before_sync"
+                ]
+    max_queue_size: 5
+    timeout_sec: 0.033
+    input_offset: [0.0 ,0.0 ,0.0]

sensing/autoware_pointcloud_preprocessor/config/time_synchronizer_node.param.yaml

@@ -0,0 +1,14 @@
+/**:
+  ros__parameters:
+    input_twist_topic_type: twist
+    output_frame: base_link
+    keep_input_frame_in_synchronized_pointcloud: false
+    input_topics: [
+                    "/sensing/lidar/left/pointcloud_before_sync",
+                    "/sensing/lidar/right/pointcloud_before_sync",
+                    "/sensing/lidar/top/pointcloud_before_sync"
+                ]
+    synchronized_pointcloud_postfix: pointcloud
+    max_queue_size: 5
+    timeout_sec: 0.033
+    input_offset: [0.0, 0.0, 0.0]

sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_pointclouds.hpp

@@ -1,4 +1,4 @@
-// Copyright 2023 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.

sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/time_synchronizer/time_synchronizer_nodelet.hpp → sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/time_synchronizer/time_synchronizer_node.hpp

@@ -1,4 +1,4 @@
-// Copyright 2023 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.
@@ -49,8 +49,8 @@
  *
  */
 
-#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__TIME_SYNCHRONIZER__TIME_SYNCHRONIZER_NODELET_HPP_
-#define AUTOWARE__POINTCLOUD_PREPROCESSOR__TIME_SYNCHRONIZER__TIME_SYNCHRONIZER_NODELET_HPP_
+#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__TIME_SYNCHRONIZER__TIME_SYNCHRONIZER_NODE_HPP_
+#define AUTOWARE__POINTCLOUD_PREPROCESSOR__TIME_SYNCHRONIZER__TIME_SYNCHRONIZER_NODE_HPP_
 
 #include <deque>
 #include <map>
@@ -182,4 +182,4 @@ class PointCloudDataSynchronizerComponent : public rclcpp::Node
 
 }  // namespace autoware::pointcloud_preprocessor
 
-#endif  // AUTOWARE__POINTCLOUD_PREPROCESSOR__TIME_SYNCHRONIZER__TIME_SYNCHRONIZER_NODELET_HPP_
+#endif  // AUTOWARE__POINTCLOUD_PREPROCESSOR__TIME_SYNCHRONIZER__TIME_SYNCHRONIZER_NODE_HPP_

sensing/autoware_pointcloud_preprocessor/launch/concatenate_pointcloud.launch.xml

@@ -0,0 +1,9 @@
+<launch>
+  <arg name="output" default="/sensing/lidar/concatenated/pointcloud"/>
+  <!-- Parameter -->
+  <arg name="param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/concatenate_pointclouds.param.yaml"/>
+  <node pkg="autoware_pointcloud_preprocessor" exec="concatenate_pointclouds_node" name="concatenate_pointclouds_node" output="screen">
+    <remap from="output" to="$(var output)"/>
+    <param from="$(var param_file)"/>
+  </node>
+</launch>

sensing/autoware_pointcloud_preprocessor/launch/time_synchronizer_node.launch.xml

@@ -0,0 +1,9 @@
+<launch>
+  <arg name="input/twist" default="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
+  <!-- Parameter -->
+  <arg name="param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/time_synchronizer_node.param.yaml"/>
+  <node pkg="autoware_pointcloud_preprocessor" exec="time_synchronizer_node" name="time_synchronizer_node" output="screen">
+    <remap from="~/input/twist" to="$(var input/twist)"/>
+    <param from="$(var param_file)"/>
+  </node>
+</launch>

sensing/autoware_pointcloud_preprocessor/schema/concatenate_pointclouds.schema.json

@@ -0,0 +1,58 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Concatenate Pointclouds Node",
+  "type": "object",
+  "definitions": {
+    "concatenate_pointclouds": {
+      "type": "object",
+      "properties": {
+        "timeout_sec": {
+          "type": "number",
+          "default": "0.1",
+          "minimum": 0,
+          "description": "Tolerance of time to publish the next pointcloud [s]. When this time limit is exceeded, the filter concatenates and publishes pointcloud, even if not all the point clouds are subscribed."
+        },
+        "input_offset": {
+          "type": "array",
+          "items": {
+            "type": "number"
+          },
+          "default": [],
+          "description": "This parameter can control waiting time for each input sensor pointcloud [s]. You must to set the same length of offsets with input pointclouds numbers."
+        },
+        "output_frame": {
+          "type": "string",
+          "default": "base_link",
+          "description": "Output frame id."
+        },
+        "input_topics": {
+          "type": "array",
+          "items": {
+            "type": "string"
+          },
+          "default": [],
+          "description": "List of input topics."
+        },
+        "max_queue_size": {
+          "type": "integer",
+          "default": "5",
+          "minimum": 1,
+          "description": "Max queue size of input/output topics."
+        }
+      },
+      "required": ["timeout_sec", "input_offset", "output_frame", "input_topics", "max_queue_size"]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/concatenate_pointclouds"
+        }
+      },
+      "required": ["ros__parameters"]
+    }
+  },
+  "required": ["/**"]
+}

sensing/autoware_pointcloud_preprocessor/schema/time_synchronizer_node.schema.json

@@ -0,0 +1,83 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Time synchronizer Node",
+  "type": "object",
+  "definitions": {
+    "time_synchronizer": {
+      "type": "object",
+      "properties": {
+        "timeout_sec": {
+          "type": "number",
+          "default": "0.033",
+          "minimum": 0,
+          "description": "Tolerance of time to publish the next pointcloud [s]. When this time limit is exceeded, the filter concatenates and publishes pointcloud, even if not all the point clouds are subscribed."
+        },
+        "input_offset": {
+          "type": "array",
+          "items": {
+            "type": "number"
+          },
+          "default": [],
+          "description": "This parameter can control waiting time for each input sensor pointcloud [s]. You must to set the same length of offsets with input pointclouds numbers."
+        },
+        "input_twist_topic_type": {
+          "type": "string",
+          "enum": ["twist", "odom"],
+          "default": "twist",
+          "description": "Topic type for twist. Currently supports 'twist' or 'odom'."
+        },
+        "output_frame": {
+          "type": "string",
+          "default": "base_link",
+          "description": "Output frame."
+        },
+        "keep_input_frame_in_synchronized_pointcloud": {
+          "type": "boolean",
+          "default": true,
+          "description": "Flag to indicate if input frame should be kept in synchronized point cloud."
+        },
+        "input_topics": {
+          "type": "array",
+          "items": {
+            "type": "string"
+          },
+          "default": [],
+          "description": "List of input topics."
+        },
+        "synchronized_pointcloud_postfix": {
+          "type": "string",
+          "default": "pointcloud",
+          "description": "Postfix for the synchronized point cloud."
+        },
+        "max_queue_size": {
+          "type": "integer",
+          "default": "5",
+          "minimum": 1,
+          "description": "Max queue size of input/output topics."
+        }
+      },
+      "required": [
+        "timeout_sec",
+        "input_offset",
+        "input_twist_topic_type",
+        "output_frame",
+        "keep_input_frame_in_synchronized_pointcloud",
+        "input_topics",
+        "synchronized_pointcloud_postfix",
+        "max_queue_size"
+      ]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/time_synchronizer"
+        }
+      },
+      "required": ["ros__parameters"]
+    }
+  },
+  "required": ["/**"]
+}

sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp

@@ -1,4 +1,4 @@
-// Copyright 2023 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.
@@ -49,12 +49,12 @@ PointCloudConcatenationComponent::PointCloudConcatenationComponent(
 
   // Set parameters
   {
-    output_frame_ = static_cast<std::string>(declare_parameter("output_frame", ""));
+    output_frame_ = declare_parameter<std::string>("output_frame");
     if (output_frame_.empty()) {
       RCLCPP_ERROR(get_logger(), "Need an 'output_frame' parameter to be set before continuing!");
       return;
     }
-    declare_parameter("input_topics", std::vector<std::string>());
+    declare_parameter<std::vector<std::string>>("input_topics");
     input_topics_ = get_parameter("input_topics").as_string_array();
     if (input_topics_.empty()) {
       RCLCPP_ERROR(get_logger(), "Need a 'input_topics' parameter to be set before continuing!");
@@ -66,11 +66,11 @@ PointCloudConcatenationComponent::PointCloudConcatenationComponent(
     }
 
     // Optional parameters
-    maximum_queue_size_ = static_cast<int>(declare_parameter("max_queue_size", 5));
+    maximum_queue_size_ = declare_parameter<int64_t>("max_queue_size");
     /** input pointclouds should be */
-    timeout_sec_ = static_cast<double>(declare_parameter("timeout_sec", 0.033));
+    timeout_sec_ = declare_parameter<double>("timeout_sec");
 
-    input_offset_ = declare_parameter("input_offset", std::vector<double>{});
+    input_offset_ = declare_parameter<std::vector<double>>("input_offset");
     if (!input_offset_.empty() && input_topics_.size() != input_offset_.size()) {
       RCLCPP_ERROR(get_logger(), "The number of topics does not match the number of offsets.");
       return;

sensing/autoware_pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_nodelet.cpp → sensing/autoware_pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_node.cpp

@@ -1,4 +1,4 @@
-// Copyright 2023 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.
@@ -21,7 +21,7 @@
  * @author Yoshi Ri
  */
 
-#include "autoware/pointcloud_preprocessor/time_synchronizer/time_synchronizer_nodelet.hpp"
+#include "autoware/pointcloud_preprocessor/time_synchronizer/time_synchronizer_node.hpp"
 
 #include <pcl_ros/transforms.hpp>
 
@@ -57,14 +57,14 @@ PointCloudDataSynchronizerComponent::PointCloudDataSynchronizerComponent(
   // Set parameters
   std::string synchronized_pointcloud_postfix;
   {
-    output_frame_ = static_cast<std::string>(declare_parameter("output_frame", ""));
+    output_frame_ = declare_parameter<std::string>("output_frame");
     keep_input_frame_in_synchronized_pointcloud_ =
-      static_cast<bool>(declare_parameter("keep_input_frame_in_synchronized_pointcloud", false));
+      declare_parameter<bool>("keep_input_frame_in_synchronized_pointcloud");
     if (output_frame_.empty() && !keep_input_frame_in_synchronized_pointcloud_) {
       RCLCPP_ERROR(get_logger(), "Need an 'output_frame' parameter to be set before continuing!");
       return;
     }
-    declare_parameter("input_topics", std::vector<std::string>());
+    declare_parameter<std::vector<std::string>>("input_topics");
     input_topics_ = get_parameter("input_topics").as_string_array();
     if (input_topics_.empty()) {
       RCLCPP_ERROR(get_logger(), "Need a 'input_topics' parameter to be set before continuing!");
@@ -76,13 +76,12 @@ PointCloudDataSynchronizerComponent::PointCloudDataSynchronizerComponent(
     }
     // output topic name postfix
     synchronized_pointcloud_postfix =
-      declare_parameter("synchronized_pointcloud_postfix", "pointcloud");
+      declare_parameter<std::string>("synchronized_pointcloud_postfix");
 
     // Optional parameters
-    maximum_queue_size_ = static_cast<int>(declare_parameter("max_queue_size", 5));
-    timeout_sec_ = static_cast<double>(declare_parameter("timeout_sec", 0.1));
-
-    input_offset_ = declare_parameter("input_offset", std::vector<double>{});
+    maximum_queue_size_ = declare_parameter<int64_t>("max_queue_size");
+    timeout_sec_ = declare_parameter<double>("timeout_sec");
+    input_offset_ = declare_parameter<std::vector<double>>("input_offset");
 
     // If input_offset_ is not defined, set all offsets to 0
     if (input_offset_.empty()) {