buildable, passed integration test, but the unit tests didn't cuz they still rely on the old version, will update em in step 3

Author: TranHuuNhatHuy

perception/autoware_ground_filter/src/ground_filter.cpp

@@ -22,6 +22,7 @@
 
 #include <cstring>
 #include <memory>
+#include <string>
 #include <utility>
 #include <vector>
 
@@ -48,6 +49,8 @@ GroundFilter::GroundFilter(const GroundFilterParameter & param) : param_(param)
 
   // Init grid if elevation mode is enabled
   if (param_.elevation_grid_mode) {
+    grid_ptr_ = std::make_unique<Grid>(virtual_lidar_x_, virtual_lidar_y_, virtual_lidar_z_);
+
     grid_ptr_ = std::make_unique<Grid>(
       param_.grid_size_m, param_.radial_divider_angle_rad, param_.grid_mode_switch_radius);
   }
@@ -747,13 +750,14 @@ tl::expected<sensor_msgs::msg::PointCloud2, std::string> GroundFilter::filter(
     !is_data_layout_compatible_with_point_xyzircaedt(*in_cloud) &&
     !is_data_layout_compatible_with_point_xyzirc(*in_cloud)) {
     return tl::unexpected(
-      "The pointcloud layout is not compatible with PointXYZIRCAEDT or PointXYZIRC. Aborting");
+      std::string(
+        "The pointcloud layout is not compatible with PointXYZIRCAEDT or PointXYZIRC. Aborting"));
   }
   if (in_cloud->data.empty() || in_cloud->width * in_cloud->height == 0) {
-    return tl::unexpected("Received empty PointCloud.");
+    return tl::unexpected(std::string("Received empty PointCloud."));
   }
   if (in_cloud->width * in_cloud->height * in_cloud->point_step != in_cloud->data.size()) {
-    return tl::unexpected("Invalid PointCloud memory layout.");
+    return tl::unexpected(std::string("Invalid PointCloud memory layout."));
   }
 
   setDataAccessor(in_cloud);

perception/autoware_ground_filter/src/ground_filter.hpp

@@ -159,17 +159,8 @@ struct GroundFilterParameter
 class GroundFilter
 {
 public:
-  explicit GroundFilter(GroundFilterParameter & param) : param_(param)
-  {
-    // calculate derived parameters
-    param_.global_slope_max_ratio = std::tan(param_.global_slope_max_angle_rad);
-
-    // initialize grid pointer
-    grid_ptr_ = std::make_unique<Grid>(
-      param_.virtual_lidar_x, param_.virtual_lidar_y, param_.virtual_lidar_z);
-    grid_ptr_->initialize(
-      param_.grid_size_m, param_.radial_divider_angle_rad, param_.grid_mode_switch_radius);
-  }
+  explicit GroundFilter(const GroundFilterParameter & param);
+
   ~GroundFilter() = default;
 
   void setTimeKeeper(std::shared_ptr<autoware_utils_debug::TimeKeeper> time_keeper_ptr)

perception/autoware_ground_filter/test/test_ground_filter.cpp

@@ -30,6 +30,8 @@ class GroundFilterTest : public ::testing::Test
 protected:
   void SetUp() override
   {
+    param_.elevation_grid_mode = true;
+
     // Initialize parameter structure
     param_.global_slope_max_angle_rad = 0.26f;  // ~15 degrees
     param_.local_slope_max_angle_rad = 0.26f;   // ~15 degrees
@@ -41,9 +43,15 @@ class GroundFilterTest : public ::testing::Test
     param_.grid_size_m = 0.5f;
     param_.grid_mode_switch_radius = 20.0f;
     param_.ground_grid_buffer_size = 3;
-    param_.virtual_lidar_x = 1.4f;
-    param_.virtual_lidar_y = 0.0f;
-    param_.virtual_lidar_z = 1.9f;
+
+    // So here previously we had virtual lidar origin params:
+    // - param_.virtual_lidar_x = 1.4f;
+    // - param_.virtual_lidar_y = 0.0f;
+    // - param_.virtual_lidar_z = 1.9f;
+    // But now we gonna use vehicle's intuitive info to set these values:
+    param_.wheel_base_m = 2.8f;  // 2.8 / 2 = 1.4 for the X origin
+    param_.center_pcl_shift = 0.0f;
+    param_.vehicle_height_m = 1.9f;  // Directly maps to the Z origin
 
     // Create filter
     ground_filter_ = std::make_unique<autoware::ground_filter::GroundFilter>(param_);