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fix(aip_x2_gen2_launch): add missing autoware_ prefix #370

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merged 4 commits into from
Jan 15, 2025
Merged

fix(aip_x2_gen2_launch): add missing autoware_ prefix #370

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2fce508
fix(aip_x2_gen2_launch): add missing prefix
TomohitoAndo Jan 15, 2025
db7f888
ci(pre-commit): autofix
pre-commit-ci[bot] Jan 15, 2025
4678392
fix plugin
TomohitoAndo Jan 15, 2025
b230b15
add missing autoware_ prefix
TomohitoAndo Jan 15, 2025
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2 changes: 1 addition & 1 deletion aip_x2_gen2_launch/launch/gnss.launch.xml
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Expand Up @@ -7,14 +7,14 @@

<!-- Septentrio Mosaic Driver -->
<node pkg="septentrio_gnss_driver" name="septentrio" exec="septentrio_gnss_driver_node" if="$(var launch_driver)">
<param from="$(find-pkg-share aip_x2_gen2_launch)/config/asterx_sb3_rover.param.yaml"/>

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<remap from="navsatfix" to="~/nav_sat_fix"/>
<remap from="poscovgeodetic" to="~/poscovgeodetic"/>
<remap from="pvtgeodetic" to="~/pvtgeodetic"/>
</node>

<!-- NavSatFix to MGRS Pose -->
<include file="$(find-pkg-share gnss_poser)/launch/gnss_poser.launch.xml">
<include file="$(find-pkg-share autoware_gnss_poser)/launch/gnss_poser.launch.xml">
<arg name="input_topic_fix" value="septentrio/nav_sat_fix" />
<arg name="input_topic_navpvt" value="septentrio/navpvt/unused" />

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4 changes: 2 additions & 2 deletions aip_x2_gen2_launch/launch/imu.launch.xml
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Expand Up @@ -4,7 +4,7 @@
<push-ros-namespace namespace="imu"/>

<arg name="launch_driver" default="true" />
<arg name="interface" default="fintekcan3"/>

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<arg name="receiver_interval_sec" default="0.01"/>
<arg name ="vehicle_id" default="$(env VEHICLE_ID default)" />

Expand All @@ -23,13 +23,13 @@

<arg name="imu_raw_name" default="tamagawa/imu_raw"/>
<arg name="imu_corrector_param_file" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/imu_corrector.param.yaml"/>
<include file="$(find-pkg-share imu_corrector)/launch/imu_corrector.launch.xml">
<include file="$(find-pkg-share autoware_imu_corrector)/launch/imu_corrector.launch.xml">
<arg name="input_topic" value="$(var imu_raw_name)"/>
<arg name="output_topic" value="imu_data"/>
<arg name="param_file" value="$(var imu_corrector_param_file)"/>
</include>

<include file="$(find-pkg-share imu_corrector)/launch/gyro_bias_estimator.launch.xml">
<include file="$(find-pkg-share autoware_imu_corrector)/launch/gyro_bias_estimator.launch.xml">
<arg name="input_imu_raw" value="$(var imu_raw_name)"/>
<arg name="input_odom" value="/localization/kinematic_state"/>
<arg name="imu_corrector_param_file" value="$(var imu_corrector_param_file)"/>
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24 changes: 12 additions & 12 deletions aip_x2_gen2_launch/launch/nebula_node_container.launch.py
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Expand Up @@ -75,7 +75,7 @@ def str2vector(string):
sensor_make, sensor_extension = get_lidar_make(sensor_model)

glog_component = ComposableNode(
package="glog_component",
package="autoware_glog_component",
plugin="GlogComponent",
name="glog_component",
)
Expand Down Expand Up @@ -136,8 +136,8 @@ def str2vector(string):
cropbox_parameters["max_z"] = vehicle_info["max_height_offset"]

self_crop_component = 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 @@ -148,8 +148,8 @@ def str2vector(string):
)

undistort_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 All @@ -162,8 +162,8 @@ def str2vector(string):
)

ring_outlier_filter_component = 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 @@ -173,8 +173,8 @@ def str2vector(string):
)

dual_return_filter_component = ComposableNode(
package="pointcloud_preprocessor",
plugin="pointcloud_preprocessor::DualReturnOutlierFilterComponent",
package="autoware_pointcloud_preprocessor",
plugin="autoware::pointcloud_preprocessor::DualReturnOutlierFilterComponent",
name="dual_return_filter",
remappings=[
("input", "rectified/pointcloud_ex"),
Expand All @@ -193,8 +193,8 @@ def str2vector(string):

distance_range = str2vector(context.perform_substitution(LaunchConfiguration("distance_range")))
blockage_diag_component = ComposableNode(
package="pointcloud_preprocessor",
plugin="pointcloud_preprocessor::BlockageDiagComponent",
package="autoware_pointcloud_preprocessor",
plugin="autoware::pointcloud_preprocessor::BlockageDiagComponent",
name="blockage_return_diag",
remappings=[
("input", "pointcloud_raw_ex"),
Expand All @@ -216,7 +216,7 @@ def str2vector(string):

container = ComposableNodeContainer(
name="nebula_node_container",
namespace="pointcloud_preprocessor",
namespace="autoware_pointcloud_preprocessor",
package="rclcpp_components",
executable=LaunchConfiguration("container_executable"),
composable_node_descriptions=[
Expand Down
4 changes: 2 additions & 2 deletions aip_x2_gen2_launch/launch/pointcloud_preprocessor.launch.py
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Expand Up @@ -27,8 +27,8 @@
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"),
Expand Down
14 changes: 7 additions & 7 deletions aip_x2_gen2_launch/launch/radar.launch.xml
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Expand Up @@ -32,7 +32,7 @@
</include>


<include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<include file="$(find-pkg-share autoware_radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<arg name="input/radar_objects" value="objects_raw"/>
<arg name="input/odometry" value="/localization/kinematic_state"/>
<arg name="output/radar_detected_objects" value="detected_objects"/>
Expand Down Expand Up @@ -62,7 +62,7 @@
<arg name="configuration_sensor_port" value="42101"/>
</include>

<include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<include file="$(find-pkg-share autoware_radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<arg name="input/radar_objects" value="objects_raw"/>
<arg name="input/odometry" value="/localization/kinematic_state"/>
<arg name="output/radar_detected_objects" value="detected_objects"/>
Expand Down Expand Up @@ -92,7 +92,7 @@
<arg name="configuration_sensor_port" value="42101"/>
</include>

<include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<include file="$(find-pkg-share autoware_radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<arg name="input/radar_objects" value="objects_raw"/>
<arg name="input/odometry" value="/localization/kinematic_state"/>
<arg name="output/radar_detected_objects" value="detected_objects"/>
Expand Down Expand Up @@ -122,7 +122,7 @@
<arg name="configuration_sensor_port" value="42101"/>
</include>

<include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<include file="$(find-pkg-share autoware_radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<arg name="input/radar_objects" value="objects_raw"/>
<arg name="input/odometry" value="/localization/kinematic_state"/>
<arg name="output/radar_detected_objects" value="detected_objects"/>
Expand Down Expand Up @@ -152,7 +152,7 @@
<arg name="configuration_sensor_port" value="42101"/>
</include>

<include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<include file="$(find-pkg-share autoware_radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<arg name="input/radar_objects" value="objects_raw"/>
<arg name="input/odometry" value="/localization/kinematic_state"/>
<arg name="output/radar_detected_objects" value="detected_objects"/>
Expand Down Expand Up @@ -182,7 +182,7 @@
<arg name="configuration_sensor_port" value="42101"/>
</include>

<include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<include file="$(find-pkg-share autoware_radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<arg name="input/radar_objects" value="objects_raw"/>
<arg name="input/odometry" value="/localization/kinematic_state"/>
<arg name="output/radar_detected_objects" value="detected_objects"/>
Expand All @@ -194,7 +194,7 @@

<!-- merge radar objects -->
<let name="merger_param_path" value="$(find-pkg-share aip_x2_gen2_launch)/config/simple_object_merger.param.yaml"/>
<node pkg="simple_object_merger" exec="simple_object_merger_node" name="simple_object_merger" output="screen">
<node pkg="autoware_simple_object_merger" exec="simple_object_merger_node" name="simple_object_merger" output="screen">
<remap from="~/output/objects" to="detected_objects"/>
<param from="$(var merger_param_path)"/>
</node>
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2 changes: 1 addition & 1 deletion aip_x2_gen2_launch/launch/sensing.launch.xml
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Expand Up @@ -30,7 +30,7 @@
</include>

<!-- Vehicle twist -->
<include file="$(find-pkg-share vehicle_velocity_converter)/launch/vehicle_velocity_converter.launch.xml">
<include file="$(find-pkg-share autoware_vehicle_velocity_converter)/launch/vehicle_velocity_converter.launch.xml">
<arg name="input_vehicle_velocity_topic" value="/vehicle/status/velocity_status"/>
<arg name="output_twist_with_covariance" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
<arg name="config_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/vehicle_velocity_converter.param.yaml" />
Expand Down
11 changes: 7 additions & 4 deletions aip_x2_gen2_launch/package.xml
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Expand Up @@ -10,17 +10,20 @@

<buildtool_depend>ament_cmake_auto</buildtool_depend>

<exec_depend>autoware_glog_component</exec_depend>
<exec_depend>autoware_gnss_poser</exec_depend>
<exec_depend>autoware_imu_corrector</exec_depend>
<exec_depend>autoware_pointcloud_preprocessor</exec_depend>
<exec_depend>autoware_radar_tracks_msgs_converter</exec_depend>
<exec_depend>autoware_simple_object_merger</exec_depend>
<exec_depend>autoware_vehicle_velocity_converter</exec_depend>
<exec_depend>common_sensor_launch</exec_depend>
<exec_depend>dummy_diag_publisher</exec_depend>
<exec_depend>gnss_poser</exec_depend>
<exec_depend>imu_corrector</exec_depend>
<exec_depend>pointcloud_preprocessor</exec_depend>
<exec_depend>septentrio_gnss_driver</exec_depend>
<exec_depend>tamagawa_imu_driver</exec_depend>
<exec_depend>topic_tools</exec_depend>
<exec_depend>ublox_gps</exec_depend>
<exec_depend>usb_cam</exec_depend>
<exec_depend>vehicle_velocity_converter</exec_depend>

<test_depend>ament_lint_auto</test_depend>
<test_depend>autoware_lint_common</test_depend>
Expand Down
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