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feat(aip_x2_gen2_launch): update launch to run new concatenate node #386

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Feb 5, 2025
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feat(aip_x2_gen2_launch): update launch to run new concatenate node #386

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474738d
feat(aip_x2_gen2_launch): update launch to run new concatenate node
TomohitoAndo Feb 5, 2025
53750f5
change output topic name
TomohitoAndo Feb 5, 2025
619bac3
update param file for x2 gen2
TomohitoAndo Feb 5, 2025
b39640e
change `is_motion_compensated` and `publish_synchronized_pointcloud` …
TomohitoAndo Feb 5, 2025
fcb43fd
update param
TomohitoAndo Feb 5, 2025
7dcbd1e
Update aip_x2_gen2_launch/config/concatenate_and_time_sync_node.param…
vividf Feb 5, 2025
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28 changes: 28 additions & 0 deletions aip_x2_gen2_launch/config/concatenate_and_time_sync_node.param.yaml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,28 @@
/**:
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@vividf vividf Feb 5, 2025 •
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This parameter config might be wrong because these parameters are for x2 gen1.

Could you run the new algorithm with the parameters

/**:
  ros__parameters:
      debug_mode: false
      has_static_tf_only: false
      rosbag_length: 10.0
      maximum_queue_size: 5
      timeout_sec: 0.2
      is_motion_compensated: true
      publish_synchronized_pointcloud: true
      keep_input_frame_in_synchronized_pointcloud: true
      publish_previous_but_late_pointcloud: false
      synchronized_pointcloud_postfix: pointcloud
      input_twist_topic_type: twist
      input_topics: [
                    "/sensing/lidar/left_lower/pointcloud_before_sync",
                    "/sensing/lidar/left_upper/pointcloud_before_sync",
                    "/sensing/lidar/front_lower/pointcloud_before_sync",
                    "/sensing/lidar/front_upper/pointcloud_before_sync",
                    "/sensing/lidar/right_upper/pointcloud_before_sync",
                    "/sensing/lidar/right_lower/pointcloud_before_sync",
                    "/sensing/lidar/rear_lower/pointcloud_before_sync",
                    "/sensing/lidar/rear_upper/pointcloud_before_sync"
                  ]
      output_frame: base_link
      matching_strategy:
        type: advanced
        lidar_timestamp_offsets: [0.0, 0.0, 0.025, 0.028, 0.026, 0.05, 0.075, 0.076]
        lidar_timestamp_noise_window: [0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01]

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@vividf vividf Feb 5, 2025 •
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Please help me verify that the time offsets between the LiDAR timestamps are accurate. (with ros2 topic echo pointcloud_topic --field header)
I set these parameters at the X2 Gen2 bench months ago, and I'm unsure if any sensor configurations have changed

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@vividf
I played rosbag recorded on the x2 gen vehicle and did ros2 topic echo pointcloud_topic --field header.
Please tell me if you need any other information!

simplescreenrecorder-2025-02-05_14.37.34.mp4

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@vividf vividf Feb 5, 2025 •
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Thank you!
This helps a lot!

The parameters below should be accurate one

/**:
  ros__parameters:
      debug_mode: false
      has_static_tf_only: false
      rosbag_length: 10.0
      maximum_queue_size: 5
      timeout_sec: 0.2
      is_motion_compensated: true
      publish_synchronized_pointcloud: true
      keep_input_frame_in_synchronized_pointcloud: true
      publish_previous_but_late_pointcloud: false
      synchronized_pointcloud_postfix: pointcloud
      input_twist_topic_type: twist
      input_topics: [
                    "/sensing/lidar/rear_upper/pointcloud_before_sync", # 0.047
                    "/sensing/lidar/rear_lower/pointcloud_before_sync", # 0.048
                    "/sensing/lidar/left_upper/pointcloud_before_sync", # 0.048
                    "/sensing/lidar/left_lower/pointcloud_before_sync", # 0.047
                    "/sensing/lidar/front_upper/pointcloud_before_sync", # 0.072
                    "/sensing/lidar/front_lower/pointcloud_before_sync", # 0.072
                    "/sensing/lidar/right_upper/pointcloud_before_sync", # 0.073
                    "/sensing/lidar/right_lower/pointcloud_before_sync" # 0.097
                  ]
      output_frame: base_link
      matching_strategy:
        type: advanced
        lidar_timestamp_offsets: [0.0, 0.001, 0.001, 0.0, 0.025, 0.025, 0.026, 0.050]
        lidar_timestamp_noise_window: [0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01]

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@vividf vividf Feb 5, 2025 •
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@TomohitoAndo Sorry! I set two values wrong.
0.01 -> 0.001

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lidar_timestamp_offsets: [0.0, 0.001, 0.001, 0.0, 0.025, 0.025, 0.026, 0.050]

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@TomohitoAndo TomohitoAndo Feb 5, 2025 •
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Thank you!
updated param in fcb43fd

I confirmed diagnostics was OK with logging_simulator 😄
image
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I updated the parameters by myself
#386 (comment)

ros__parameters:
debug_mode: false
has_static_tf_only: false
rosbag_length: 10.0
maximum_queue_size: 5
timeout_sec: 0.2
is_motion_compensated: true
publish_synchronized_pointcloud: true
keep_input_frame_in_synchronized_pointcloud: true
publish_previous_but_late_pointcloud: false
synchronized_pointcloud_postfix: pointcloud
input_twist_topic_type: twist
input_topics: [
"/sensing/lidar/rear_upper/pointcloud_before_sync", # 0.044
"/sensing/lidar/rear_lower/pointcloud_before_sync", # 0.049
"/sensing/lidar/left_upper/pointcloud_before_sync", # 0.05
"/sensing/lidar/left_lower/pointcloud_before_sync", # 0.05
"/sensing/lidar/front_upper/pointcloud_before_sync", # 0.075
"/sensing/lidar/front_lower/pointcloud_before_sync", # 0.074
"/sensing/lidar/right_upper/pointcloud_before_sync", # 0.090
"/sensing/lidar/right_lower/pointcloud_before_sync", # 0.00
]
output_frame: base_link
matching_strategy:
type: advanced
lidar_timestamp_offsets: [0.0, 0.005, 0.006, 0.006, 0.031, 0.03, 0.046, 0.056]
lidar_timestamp_noise_window: [0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01]
4 changes: 2 additions & 2 deletions aip_x2_gen2_launch/launch/nebula_node_container.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -180,7 +180,7 @@ def str2vector(string):
name="ring_outlier_filter",
remappings=[
("input", "rectified/pointcloud_ex"),
("output", "pointcloud"),
("output", "pointcloud_before_sync"),
],
parameters=[ring_outlier_filter_node_param, ring_outlier_output_frame],
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
Expand All @@ -192,7 +192,7 @@ def str2vector(string):
name="dual_return_filter",
remappings=[
("input", "rectified/pointcloud_ex"),
("output", "pointcloud"),
("output", "pointcloud_before_sync"),
],
parameters=[
{
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43 changes: 24 additions & 19 deletions aip_x2_gen2_launch/launch/pointcloud_preprocessor.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,9 @@
# See the License for the specific language governing permissions and
# limitations under the License.

import os

from ament_index_python.packages import get_package_share_directory
import launch
from launch.actions import DeclareLaunchArgument
from launch.actions import OpaqueFunction
Expand All @@ -22,9 +24,18 @@
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import LoadComposableNodes
from launch_ros.descriptions import ComposableNode
from launch_ros.parameter_descriptions import ParameterFile


def launch_setup(context, *args, **kwargs):
# concatenate node parameters
concatenate_and_time_sync_node_param = ParameterFile(
param_file=LaunchConfiguration("concatenate_and_time_sync_node_param_path").perform(
context
),
allow_substs=True,
)

# set concat filter as a component
concat_component = ComposableNode(
package="autoware_pointcloud_preprocessor",
Expand All @@ -34,30 +45,15 @@ def launch_setup(context, *args, **kwargs):
("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
("output", "concatenated/pointcloud"),
],
parameters=[
{
"input_topics": [
"/sensing/lidar/front_upper/pointcloud",
"/sensing/lidar/front_lower/pointcloud",
"/sensing/lidar/left_upper/pointcloud",
"/sensing/lidar/left_lower/pointcloud",
"/sensing/lidar/right_upper/pointcloud",
"/sensing/lidar/right_lower/pointcloud",
"/sensing/lidar/rear_upper/pointcloud",
"/sensing/lidar/rear_lower/pointcloud",
],
"input_offset": [0.005, 0.025, 0.050, 0.005, 0.050, 0.005, 0.005, 0.025],
"timeout_sec": 0.075,
"output_frame": LaunchConfiguration("base_frame"),
"input_twist_topic_type": "twist",
}
],
parameters=[concatenate_and_time_sync_node_param],
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
)

# load concat or passthrough filter
concat_loader = LoadComposableNodes(
composable_node_descriptions=[concat_component],
target_container=LaunchConfiguration("pointcloud_container_name"),
condition=IfCondition(LaunchConfiguration("use_concat_filter")),
)

return [concat_loader]
Expand All @@ -69,10 +65,19 @@ def generate_launch_description():
def add_launch_arg(name: str, default_value=None):
launch_arguments.append(DeclareLaunchArgument(name, default_value=default_value))

add_launch_arg("base_frame", "base_link")
aip_x2_gen2_launch_share_dir = get_package_share_directory("aip_x2_gen2_launch")

add_launch_arg("use_multithread", "True")
add_launch_arg("use_intra_process", "True")
add_launch_arg("pointcloud_container_name", "pointcloud_container")
add_launch_arg(
"concatenate_and_time_sync_node_param_path",
os.path.join(
aip_x2_gen2_launch_share_dir,
"config",
"concatenate_and_time_sync_node.param.yaml",
),
)

set_container_executable = SetLaunchConfiguration(
"container_executable",
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