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feat: nebula for aip launcher (#157)
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* feat: add nebula to VLP16, VLP32C, VLS128 launch files

Signed-off-by: David Wong <[email protected]>

* chore: update package dependencies

Signed-off-by: David Wong <[email protected]>

* feat: add Hesai XT32, update parameters for Velodyne sensors

Signed-off-by: David Wong <[email protected]>

* ci(pre-commit): autofix

* fix: add view_direction parameter for Velodyne

Signed-off-by: David Wong <[email protected]>

* ci(pre-commit): autofix

* fix: add host ip to prevent broadcast IP being used

Signed-off-by: David Wong <[email protected]>

* fix: parameter typos

Signed-off-by: David Wong <[email protected]>

* ci(pre-commit): autofix

* fix: change velodyne to use min and max angle parameters instead of view angle, increase max view angle to 360

Signed-off-by: David Wong <[email protected]>

* fix: parameter name correction

Signed-off-by: David Wong <[email protected]>

---------

Signed-off-by: David Wong <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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drwnz and pre-commit-ci[bot] authored Jul 31, 2023
1 parent 4b0994b commit 5eb758d
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2 changes: 1 addition & 1 deletion aip_x1_launch/launch/lidar.launch.xml
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Expand Up @@ -18,7 +18,7 @@
<include file="$(find-pkg-share aip_x1_launch)/launch/velodyne_VLP16.launch.xml">
<arg name="sensor_frame" value="velodyne_top" />
<arg name="device_ip" value="192.168.1.20"/>
<arg name="port" value="2368"/>
<arg name="data_port" value="2368"/>
<arg name="scan_phase" value="180.0" />
<arg name="launch_driver" value="$(var launch_driver)" />
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
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89 changes: 47 additions & 42 deletions aip_xx1_launch/launch/lidar.launch.xml
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@@ -1,9 +1,10 @@
<launch>

<arg name="launch_driver" default="true" />
<arg name="use_concat_filter" default="true" />
<arg name ="vehicle_id" default="$(env VEHICLE_ID default)" />
<arg name="vehicle_mirror_param_file" />
<arg name="launch_driver" default="true"/>
<arg name="host_ip" default="192.168.1.10"/>
<arg name="use_concat_filter" default="true"/>
<arg name ="vehicle_id" default="$(env VEHICLE_ID default)"/>
<arg name="vehicle_mirror_param_file"/>
<arg name="use_pointcloud_container" default="false" description="launch pointcloud container"/>
<arg name="pointcloud_container_name" default="pointcloud_container"/>

Expand All @@ -13,65 +14,69 @@
<group>
<push-ros-namespace namespace="top"/>
<include file="$(find-pkg-share common_sensor_launch)/launch/velodyne_VLS128.launch.xml">
<arg name="max_range" value="250.0" />
<arg name="sensor_frame" value="velodyne_top" />
<arg name="max_range" value="250.0"/>
<arg name="sensor_frame" value="velodyne_top"/>
<arg name="device_ip" value="192.168.1.201"/>
<arg name="port" value="2368"/>
<arg name="scan_phase" value="300.0" />
<arg name="launch_driver" value="$(var launch_driver)" />
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
<arg name="host_ip" value="$(var host_ip)"/>
<arg name="data_port" value="2368"/>
<arg name="scan_phase" value="300.0"/>
<arg name="launch_driver" value="$(var launch_driver)"/>
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="container_name" value="$(var pointcloud_container_name)"/>
</include>
</group>

<group>
<push-ros-namespace namespace="left"/>
<include file="$(find-pkg-share common_sensor_launch)/launch/velodyne_VLP16.launch.xml">
<arg name="max_range" value="5.0" />
<arg name="sensor_frame" value="velodyne_left" />
<arg name="max_range" value="5.0"/>
<arg name="sensor_frame" value="velodyne_left"/>
<arg name="device_ip" value="192.168.1.202"/>
<arg name="port" value="2369"/>
<arg name="scan_phase" value="180.0" />
<arg name="view_direction" value="0.0" />
<arg name="view_width" value="1.9" />
<arg name="launch_driver" value="$(var launch_driver)" />
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
<arg name="host_ip" value="$(var host_ip)"/>
<arg name="data_port" value="2369"/>
<arg name="scan_phase" value="180.0"/>
<arg name="cloud_min_angle" value="300"/>
<arg name="cloud_max_angle" value="60"/>
<arg name="launch_driver" value="$(var launch_driver)"/>
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="container_name" value="$(var pointcloud_container_name)"/>
</include>
</group>

<group>
<push-ros-namespace namespace="right"/>
<include file="$(find-pkg-share common_sensor_launch)/launch/velodyne_VLP16.launch.xml">
<arg name="max_range" value="5.0" />
<arg name="sensor_frame" value="velodyne_right" />
<arg name="max_range" value="5.0"/>
<arg name="sensor_frame" value="velodyne_right"/>
<arg name="device_ip" value="192.168.1.203"/>
<arg name="port" value="2370"/>
<arg name="scan_phase" value="180.0" />
<arg name="view_direction" value="0.0" />
<arg name="view_width" value="1.9" />
<arg name="launch_driver" value="$(var launch_driver)" />
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
<arg name="host_ip" value="$(var host_ip)"/>
<arg name="data_port" value="2370"/>
<arg name="scan_phase" value="180.0"/>
<arg name="cloud_min_angle" value="300"/>
<arg name="cloud_max_angle" value="60"/>
<arg name="launch_driver" value="$(var launch_driver)"/>
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="container_name" value="$(var pointcloud_container_name)"/>
</include>
</group>

<group>
<push-ros-namespace namespace="rear"/>
<include file="$(find-pkg-share common_sensor_launch)/launch/velodyne_VLP16.launch.xml">
<arg name="max_range" value="1.5" />
<arg name="sensor_frame" value="velodyne_rear" />
<arg name="max_range" value="1.5"/>
<arg name="sensor_frame" value="velodyne_rear"/>
<arg name="device_ip" value="192.168.1.204"/>
<arg name="port" value="2371"/>
<arg name="scan_phase" value="180.0" />
<arg name="view_direction" value="0.0" />
<arg name="view_width" value="1.9" />
<arg name="launch_driver" value="$(var launch_driver)" />
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
<arg name="host_ip" value="$(var host_ip)"/>
<arg name="data_port" value="2371"/>
<arg name="scan_phase" value="180.0"/>
<arg name="cloud_min_angle" value="300"/>
<arg name="cloud_max_angle" value="60"/>
<arg name="launch_driver" value="$(var launch_driver)"/>
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="container_name" value="$(var pointcloud_container_name)"/>
</include>
</group>
Expand All @@ -97,10 +102,10 @@
</group> -->

<include file="$(find-pkg-share aip_xx1_launch)/launch/pointcloud_preprocessor.launch.py">
<arg name="base_frame" value="base_link" />
<arg name="use_intra_process" value="true" />
<arg name="use_multithread" value="true" />
<arg name="use_pointcloud_container" value="true" />
<arg name="base_frame" value="base_link"/>
<arg name="use_intra_process" value="true"/>
<arg name="use_multithread" value="true"/>
<arg name="use_pointcloud_container" value="true"/>
<arg name="container_name" value="/sensing/lidar/top/pointcloud_preprocessor/pointcloud_container"/>
</include>

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38 changes: 38 additions & 0 deletions common_sensor_launch/launch/hesai_XT32.launch.xml
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@@ -0,0 +1,38 @@
<launch>

<!-- Params -->
<arg name="launch_driver" default="true"/>

<arg name="model" default="PandarXT32"/>
<arg name="sensor_frame" default="pandar"/>
<arg name="return_mode" default="Strongest"/>
<arg name="device_ip" default="192.168.1.201"/>
<arg name="host_ip" default="255.255.255.255"/>
<arg name="data_port" default="2368"/>
<arg name="scan_phase" default="0.0"/>
<arg name="cloud_min_angle" default="0"/>
<arg name="cloud_max_angle" default="360"/>
<arg name="dual_return_distance_threshold" default="0.1"/>
<arg name="vehicle_mirror_param_file"/>
<arg name="use_pointcloud_container" default="false"/>
<arg name="container_name" default="hesai_node_container"/>

<include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
<arg name="launch_driver" value="$(var launch_driver)"/>
<arg name="sensor_model" value="$(var model)"/>
<arg name="return_mode" value="$(var return_mode)"/>
<arg name="frame_id" value="$(var sensor_frame)"/>
<arg name="device_ip" value="$(var device_ip)"/>
<arg name="host_ip" value="$(var host_ip)"/>
<arg name="data_port" value="$(var data_port)"/>
<arg name="scan_phase" value="$(var scan_phase)"/>
<arg name="cloud_min_angle" value="0"/>
<arg name="cloud_max_angle" value="360"/>
<arg name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/>
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
<arg name="use_intra_process" value="true"/>
<arg name="use_multithread" value="true"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="container_name" value="$(var container_name)"/>
</include>
</launch>
134 changes: 85 additions & 49 deletions .../launch/velodyne_node_container.launch.py → ...ch/launch/nebula_node_container.launch.py
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@@ -1,4 +1,4 @@
# Copyright 2020 Tier IV, Inc. All rights reserved.
# Copyright 2023 Tier IV, Inc. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
Expand All @@ -12,6 +12,10 @@
# See the License for the specific language governing permissions and
# limitations under the License.

import os
import warnings

from ament_index_python.packages import get_package_share_directory
import launch
from launch.actions import DeclareLaunchArgument
from launch.actions import OpaqueFunction
Expand All @@ -25,6 +29,14 @@
import yaml


def get_lidar_make(sensor_name):
if sensor_name[:6].lower() == "pandar":
return "Hesai", ".csv"
elif sensor_name[:3].lower() in ["hdl", "vlp", "vls"]:
return "Velodyne", ".yaml"
return "unrecognized_sensor_model"


def get_vehicle_info(context):
# TODO(TIER IV): Use Parameter Substitution after we drop Galactic support
# https://github.com/ros2/launch_ros/blob/master/launch_ros/launch_ros/substitutions/parameter.py
Expand Down Expand Up @@ -57,33 +69,63 @@ def create_parameter_dict(*args):
result[x] = LaunchConfiguration(x)
return result

# Model and make
sensor_model = LaunchConfiguration("sensor_model").perform(context)
sensor_make, sensor_extension = get_lidar_make(sensor_model)
nebula_decoders_share_dir = get_package_share_directory("nebula_decoders")
nebula_ros_share_dir = get_package_share_directory("nebula_ros")

# Config
sensor_params_fp = LaunchConfiguration("config_file").perform(context)
if sensor_params_fp == "":
warnings.warn("No config file provided, using sensor model default", RuntimeWarning)
sensor_params_fp = os.path.join(
nebula_ros_share_dir, "config", sensor_make.lower(), sensor_model + ".yaml"
)
sensor_calib_fp = os.path.join(
nebula_decoders_share_dir,
"calibration",
sensor_make.lower(),
sensor_model + sensor_extension,
)
if not os.path.exists(sensor_params_fp):
sensor_params_fp = os.path.join(nebula_ros_share_dir, "config", "BaseParams.yaml")
assert os.path.exists(
sensor_params_fp
), "Sensor params yaml file under config/ was not found: {}".format(sensor_params_fp)
assert os.path.exists(
sensor_calib_fp
), "Sensor calib file under calibration/ was not found: {}".format(sensor_calib_fp)
with open(sensor_params_fp, "r") as f:
sensor_params = yaml.safe_load(f)["/**"]["ros__parameters"]

nodes = []

# turn packets into pointcloud as in
# https://github.com/ros-drivers/velodyne/blob/ros2/velodyne_pointcloud/launch/velodyne_convert_node-VLP16-composed-launch.py
nodes.append(
ComposableNode(
package="velodyne_pointcloud",
plugin="velodyne_pointcloud::Convert",
name="velodyne_convert_node",
package="nebula_ros",
plugin=sensor_make + "DriverRosWrapper",
name=sensor_make.lower() + "_driver_ros_wrapper_node",
parameters=[
sensor_params,
{
"calibration_file": sensor_calib_fp,
"sensor_model": sensor_model,
**create_parameter_dict(
"calibration",
"return_mode",
"min_range",
"max_range",
"num_points_thresholds",
"invalid_intensity",
"frame_id",
"scan_phase",
"view_direction",
"view_width",
"cloud_min_angle",
"cloud_max_angle",
"dual_return_distance_threshold",
),
}
},
],
remappings=[
("velodyne_points", "pointcloud_raw"),
("velodyne_points_ex", "pointcloud_raw_ex"),
("aw_points", "pointcloud_raw"),
("aw_points_ex", "pointcloud_raw_ex"),
],
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
)
Expand Down Expand Up @@ -182,24 +224,25 @@ def create_parameter_dict(*args):
)

driver_component = ComposableNode(
package="velodyne_driver",
plugin="velodyne_driver::VelodyneDriver",
package="nebula_ros",
plugin=sensor_make + "HwInterfaceRosWrapper",
# node is created in a global context, need to avoid name clash
name="velodyne_driver",
name=sensor_make.lower() + "_hw_interface_ros_wrapper_node",
parameters=[
{
"sensor_model": sensor_model,
"calibration_file": sensor_calib_fp,
**create_parameter_dict(
"device_ip",
"gps_time",
"read_once",
"read_fast",
"repeat_delay",
"frame_id",
"model",
"rpm",
"port",
"pcap",
"sensor_ip",
"host_ip",
"scan_phase",
"return_mode",
"frame_id",
"rotation_speed",
"data_port",
"gnss_port",
"cloud_min_angle",
"cloud_max_angle",
),
}
],
Expand Down Expand Up @@ -229,38 +272,31 @@ def add_launch_arg(name: str, default_value=None, description=None):
DeclareLaunchArgument(name, default_value=default_value, description=description)
)

add_launch_arg("model", description="velodyne model name")
add_launch_arg("sensor_model", description="sensor model name")
add_launch_arg("config_file", "", description="sensor configuration file")
add_launch_arg("launch_driver", "True", "do launch driver")
add_launch_arg("calibration", description="path to calibration file")
add_launch_arg("device_ip", "192.168.1.201", "device ip address")
add_launch_arg("sensor_ip", "192.168.1.201", "device ip address")
add_launch_arg("host_ip", "255.255.255.255", "host ip address")
add_launch_arg("scan_phase", "0.0")
add_launch_arg("base_frame", "base_link", "base frame id")
add_launch_arg("container_name", "velodyne_composable_node_container", "container name")
add_launch_arg("min_range", description="minimum view range")
add_launch_arg("max_range", description="maximum view range")
add_launch_arg("pcap", "")
add_launch_arg("port", "2368", description="device port number")
add_launch_arg("read_fast", "False")
add_launch_arg("read_once", "False")
add_launch_arg("repeat_delay", "0.0")
add_launch_arg("rpm", "600.0", "rotational frequency")
add_launch_arg("laserscan_ring", "-1")
add_launch_arg("laserscan_resolution", "0.007")
add_launch_arg("num_points_thresholds", "300")
add_launch_arg("invalid_intensity")
add_launch_arg("frame_id", "velodyne", "velodyne frame id")
add_launch_arg("gps_time", "False")
add_launch_arg("view_direction", description="the center of lidar angle")
add_launch_arg("view_width", description="lidar angle: 0~6.28 [rad]")
add_launch_arg("min_range", "0.3", "minimum view range for Velodyne sensors")
add_launch_arg("max_range", "300.0", "maximum view range for Velodyne sensors")
add_launch_arg("cloud_min_angle", "0", "minimum view angle setting on device")
add_launch_arg("cloud_max_angle", "360", "maximum view angle setting on device")
add_launch_arg("data_port", "2368", "device data port number")
add_launch_arg("gnss_port", "2380", "device gnss port number")
add_launch_arg("rotation_speed", "600.0", "rotational frequency")
add_launch_arg("dual_return_distance_threshold", "0.1", "dual return distance threshold")
add_launch_arg("frame_id", "lidar", "frame id")
add_launch_arg("input_frame", LaunchConfiguration("base_frame"), "use for cropbox")
add_launch_arg("output_frame", LaunchConfiguration("base_frame"), "use for cropbox")
add_launch_arg(
"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")
add_launch_arg("use_intra_process", "False", "use ROS 2 component container communication")
add_launch_arg("use_pointcloud_container", "false")
add_launch_arg("container_name", "velodyne_node_container")
add_launch_arg("container_name", "nebula_node_container")

set_container_executable = SetLaunchConfiguration(
"container_executable",
Expand Down
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