Merge branch 'main' into mau/fix/sensing/vehicle_velocity_converter

Author: YamatoAndo

common_sensor_launch/config/distortion_corrector_node.param.yaml

@@ -3,3 +3,4 @@
     base_frame: base_link
     use_imu: true
     use_3d_distortion_correction: false
+    update_azimuth_and_distance: false

common_sensor_launch/config/ring_outlier_filter_node.param.yaml

@@ -0,0 +1,14 @@
+/**:
+  ros__parameters:
+    distance_ratio: 1.03
+    object_length_threshold: 0.1
+    num_points_threshold: 4
+    max_rings_num: 128
+    max_points_num_per_ring: 4000
+    publish_outlier_pointcloud: false
+    min_azimuth_deg: 0.0
+    max_azimuth_deg: 360.0
+    max_distance: 12.0
+    vertical_bins: 128
+    horizontal_bins: 36
+    noise_threshold: 2

common_sensor_launch/launch/nebula_node_container.launch.py

@@ -23,7 +23,6 @@
 from launch.conditions import UnlessCondition
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import ComposableNodeContainer
-from launch_ros.actions import LoadComposableNodes
 from launch_ros.descriptions import ComposableNode
 from launch_ros.parameter_descriptions import ParameterFile
 import yaml
@@ -95,6 +94,10 @@ def create_parameter_dict(*args):
         param_file=LaunchConfiguration("distortion_correction_node_param_path").perform(context),
         allow_substs=True,
     )
+    ring_outlier_filter_node_param = ParameterFile(
+        param_file=LaunchConfiguration("ring_outlier_filter_node_param_path").perform(context),
+        allow_substs=True,
+    )
 
     nodes = []
 
@@ -109,16 +112,18 @@ def create_parameter_dict(*args):
     nodes.append(
         ComposableNode(
             package="nebula_ros",
-            plugin=sensor_make + "DriverRosWrapper",
-            name=sensor_make.lower() + "_driver_ros_wrapper_node",
+            plugin=sensor_make + "RosWrapper",
+            name=sensor_make.lower() + "_ros_wrapper_node",
             parameters=[
                 {
                     "calibration_file": sensor_calib_fp,
                     "sensor_model": sensor_model,
+                    "launch_hw": LaunchConfiguration("launch_driver"),
                     **create_parameter_dict(
                         "host_ip",
                         "sensor_ip",
                         "data_port",
+                        "gnss_port",
                         "return_mode",
                         "min_range",
                         "max_range",
@@ -127,6 +132,9 @@ def create_parameter_dict(*args):
                         "cloud_min_angle",
                         "cloud_max_angle",
                         "dual_return_distance_threshold",
+                        "rotation_speed",
+                        "packet_mtu_size",
+                        "setup_sensor",
                     ),
                 },
             ],
@@ -206,11 +214,9 @@ def create_parameter_dict(*args):
 
     # Ring Outlier Filter is the last component in the pipeline, so control the output frame here
     if LaunchConfiguration("output_as_sensor_frame").perform(context).lower() == "true":
-        ring_outlier_filter_parameters = {"output_frame": LaunchConfiguration("frame_id")}
+        ring_outlier_output_frame = {"output_frame": LaunchConfiguration("frame_id")}
     else:
-        ring_outlier_filter_parameters = {
-            "output_frame": ""
-        }  # keep the output frame as the input frame
+        ring_outlier_output_frame = {"output_frame": ""}  # keep the output frame as the input frame
     nodes.append(
         ComposableNode(
             package="autoware_pointcloud_preprocessor",
@@ -220,7 +226,7 @@ def create_parameter_dict(*args):
                 ("input", "rectified/pointcloud_ex"),
                 ("output", "pointcloud_before_sync"),
             ],
-            parameters=[ring_outlier_filter_parameters],
+            parameters=[ring_outlier_filter_node_param, ring_outlier_output_frame],
             extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
         )
     )
@@ -235,41 +241,7 @@ def create_parameter_dict(*args):
         output="both",
     )
 
-    driver_component = ComposableNode(
-        package="nebula_ros",
-        plugin=sensor_make + "HwInterfaceRosWrapper",
-        # node is created in a global context, need to avoid name clash
-        name=sensor_make.lower() + "_hw_interface_ros_wrapper_node",
-        parameters=[
-            {
-                "sensor_model": sensor_model,
-                "calibration_file": sensor_calib_fp,
-                **create_parameter_dict(
-                    "sensor_ip",
-                    "host_ip",
-                    "scan_phase",
-                    "return_mode",
-                    "frame_id",
-                    "rotation_speed",
-                    "data_port",
-                    "gnss_port",
-                    "cloud_min_angle",
-                    "cloud_max_angle",
-                    "packet_mtu_size",
-                    "dual_return_distance_threshold",
-                    "setup_sensor",
-                ),
-            }
-        ],
-    )
-
-    driver_component_loader = LoadComposableNodes(
-        composable_node_descriptions=[driver_component],
-        target_container=container,
-        condition=IfCondition(LaunchConfiguration("launch_driver")),
-    )
-
-    return [container, driver_component_loader]
+    return [container]
 
 
 def generate_launch_description():
@@ -319,6 +291,15 @@ def add_launch_arg(name: str, default_value=None, description=None):
         ),
         description="path to parameter file of distortion correction node",
     )
+    add_launch_arg(
+        "ring_outlier_filter_node_param_path",
+        os.path.join(
+            common_sensor_share_dir,
+            "config",
+            "ring_outlier_filter_node.param.yaml",
+        ),
+        description="path to parameter file of ring outlier filter node",
+    )
 
     set_container_executable = SetLaunchConfiguration(
         "container_executable",