From 276f58a78bd58d2b7036e01b168b9f17ac051818 Mon Sep 17 00:00:00 2001 From: Max SCHMELLER <max.schmeller@tier4.jp> Date: Fri, 5 Jul 2024 17:57:10 +0900 Subject: [PATCH] refactor!: nebula single node support --- .../launch/nebula_node_container.launch.py | 143 ++++++------------ 1 file changed, 47 insertions(+), 96 deletions(-) diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py index 4d7a44e7..8b3c8df1 100644 --- a/common_sensor_launch/launch/nebula_node_container.launch.py +++ b/common_sensor_launch/launch/nebula_node_container.launch.py @@ -12,7 +12,9 @@ # See the License for the specific language governing permissions and # limitations under the License. +from ctypes import ArgumentError import os +from pathlib import Path from ament_index_python.packages import get_package_share_directory import launch @@ -26,15 +28,16 @@ from launch_ros.actions import LoadComposableNodes from launch_ros.descriptions import ComposableNode from launch_ros.substitutions import FindPackageShare +from launch_ros.parameter_descriptions import ParameterFile 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" + return "Hesai" + elif sensor_name[:3].lower() in ["vlp", "vls"]: + return "Velodyne" + raise ArgumentError("Unrecognized sensor model") def get_vehicle_info(context): @@ -68,19 +71,25 @@ def create_parameter_dict(*args): # 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") - - # Calibration file - sensor_calib_fp = os.path.join( - nebula_decoders_share_dir, - "calibration", - sensor_make.lower(), - sensor_model + sensor_extension, + sensor_make = get_lidar_make(sensor_model) + + # Configuration file containing sensor model's default parameters + + sensor_config = LaunchConfiguration("config_file").perform(context) + if (sensor_config == ""): + sensor_config = ( + Path(get_package_share_directory("nebula_ros")) + / "config" + / "lidar" + / sensor_make.lower() + / (sensor_model + ".param.yaml") + ) + else: + sensor_config = Path(sensor_config) + + assert sensor_config.exists(), "Sensor configuration not found: {}".format( + sensor_config.absolute().as_posix() ) - assert os.path.exists( - sensor_calib_fp - ), "Sensor calib file under calibration/ was not found: {}".format(sensor_calib_fp) nodes = [] @@ -95,26 +104,35 @@ 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=[ + ParameterFile(sensor_config, allow_substs=True), { - "calibration_file": sensor_calib_fp, "sensor_model": sensor_model, + "launch_hw": LaunchConfiguration("launch_driver"), **create_parameter_dict( "host_ip", "sensor_ip", "data_port", - "return_mode", + "gnss_port", + "packet_mtu_size", + "setup_sensor", + "frame_id", + "diag_span", "min_range", "max_range", - "frame_id", - "scan_phase", "cloud_min_angle", "cloud_max_angle", - "dual_return_distance_threshold", - "setup_sensor", + "scan_phase", + "rotation_speed", + "return_mode", + "ptp_profile", + "ptp_domain", + "ptp_transport_type", + "ptp_switch_type", "retry_hw", + "dual_return_distance_threshold", ), }, ], @@ -124,37 +142,9 @@ def create_parameter_dict(*args): ("pandar_points", "pointcloud_raw_ex"), ("velodyne_points", "pointcloud_raw_ex"), ], - extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], - ) - ) - - nodes.append( - ComposableNode( - package="nebula_ros", - plugin=sensor_make + "HwMonitorRosWrapper", - name=sensor_make.lower() + "_hw_monitor_ros_wrapper_node", - parameters=[ - { - "sensor_model": sensor_model, - **create_parameter_dict( - "return_mode", - "frame_id", - "scan_phase", - "sensor_ip", - "host_ip", - "data_port", - "gnss_port", - "packet_mtu_size", - "rotation_speed", - "cloud_min_angle", - "cloud_max_angle", - "diag_span", - "dual_return_distance_threshold", - "delay_monitor_ms", - ), - }, + extra_arguments=[ + {"use_intra_process_comms": LaunchConfiguration("use_intra_process")} ], - extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], ) ) @@ -252,39 +242,6 @@ 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", - "ptp_profile", - "ptp_transport_type", - "ptp_switch_type", - "ptp_domain", - "retry_hw", - ), - } - ], - ) - blockage_diag_component = ComposableNode( package="pointcloud_preprocessor", plugin="pointcloud_preprocessor::BlockageDiagComponent", @@ -310,18 +267,13 @@ def create_parameter_dict(*args): extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], ) - driver_component_loader = LoadComposableNodes( - composable_node_descriptions=[driver_component], - target_container=container, - condition=IfCondition(LaunchConfiguration("launch_driver")), - ) blockage_diag_loader = LoadComposableNodes( composable_node_descriptions=[blockage_diag_component], target_container=container, condition=IfCondition(LaunchConfiguration("enable_blockage_diag")), ) - return [container, driver_component_loader, blockage_diag_loader] + return [container, blockage_diag_loader] def generate_launch_description(): @@ -335,8 +287,8 @@ def add_launch_arg(name: str, default_value=None, description=None): 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("setup_sensor", "True", "configure sensor") + add_launch_arg("launch_driver", "true", "whether to connect to a sensor or to listen to packet replays instead") + add_launch_arg("setup_sensor", "true", "configure sensor") add_launch_arg("retry_hw", "false", "retry hw") add_launch_arg("sensor_ip", "192.168.1.201", "device ip address") add_launch_arg("host_ip", "255.255.255.255", "host ip address") @@ -366,7 +318,6 @@ def add_launch_arg(name: str, default_value=None, description=None): add_launch_arg("ptp_domain", "0") add_launch_arg("output_as_sensor_frame", "True", "output final pointcloud in sensor frame") add_launch_arg("diag_span", "1000", "") - add_launch_arg("delay_monitor_ms", "2000", "") add_launch_arg("output_as_sensor_frame", "True", "output final pointcloud in sensor frame") add_launch_arg("enable_blockage_diag", "true")