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refactor: pointcloud_preprocessor prefix package and namespace with autoware #15

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merged 1 commit into from
Jul 22, 2024
Merged

refactor: pointcloud_preprocessor prefix package and namespace with autoware #15

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4 changes: 2 additions & 2 deletions awsim_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -29,8 +29,8 @@ def launch_setup(context, *args, **kwargs):

# set concat filter as a component
concat_component = ComposableNode(
package="pointcloud_preprocessor",
plugin="pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
package="autoware_pointcloud_preprocessor",
plugin="autoware::pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
name="concatenate_data",
remappings=[
("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
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2 changes: 1 addition & 1 deletion awsim_sensor_kit_launch/package.xml
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Expand Up @@ -9,9 +9,9 @@

<buildtool_depend>ament_cmake_auto</buildtool_depend>

<exec_depend>autoware_pointcloud_preprocessor</exec_depend>
<exec_depend>common_sensor_launch</exec_depend>
<exec_depend>gnss_poser</exec_depend>
<exec_depend>pointcloud_preprocessor</exec_depend>
<exec_depend>tamagawa_imu_driver</exec_depend>
<exec_depend>topic_tools</exec_depend>
<exec_depend>ublox_gps</exec_depend>
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16 changes: 8 additions & 8 deletions common_awsim_sensor_launch/launch/velodyne_node_container.launch.py
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Expand Up @@ -72,8 +72,8 @@

nodes.append(
ComposableNode(
package="pointcloud_preprocessor",
plugin="pointcloud_preprocessor::CropBoxFilterComponent",
package="autoware_pointcloud_preprocessor",
plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent",
name="crop_box_filter_self",
remappings=[
("input", "pointcloud_raw_ex"),
Expand All @@ -94,8 +94,8 @@

nodes.append(
ComposableNode(
package="pointcloud_preprocessor",
plugin="pointcloud_preprocessor::CropBoxFilterComponent",
package="autoware_pointcloud_preprocessor",
plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent",
name="crop_box_filter_mirror",
remappings=[
("input", "self_cropped/pointcloud_ex"),
Expand All @@ -108,8 +108,8 @@

nodes.append(
ComposableNode(
package="pointcloud_preprocessor",
plugin="pointcloud_preprocessor::RingOutlierFilterComponent",
package="autoware_pointcloud_preprocessor",
plugin="autoware::pointcloud_preprocessor::RingOutlierFilterComponent",
name="ring_outlier_filter",
remappings=[
("input", "rectified/pointcloud_ex"),
Expand All @@ -130,8 +130,8 @@
)

distortion_component = ComposableNode(
package="pointcloud_preprocessor",
plugin="pointcloud_preprocessor::DistortionCorrectorComponent",
package="autoware_pointcloud_preprocessor",
plugin="autoware::pointcloud_preprocessor::DistortionCorrectorComponent",
name="distortion_corrector_node",
remappings=[
("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
Expand Down Expand Up @@ -187,7 +187,7 @@
"vehicle_mirror_param_file", description="path to the file of vehicle mirror position yaml"
)
add_launch_arg("use_multithread", "False", "use multithread")
add_launch_arg("use_intra_process", "False", "use ROS2 component container communication")

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set_container_executable = SetLaunchConfiguration(
"container_executable",
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