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fix bug for radar twist/odometry topic contamination
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@KYabuuchi
j4tfwm6z authored and KYabuuchi committed Jan 6, 2025
1 parent 9943778 commit ca1594c
Showing 1 changed file with 90 additions and 65 deletions.
155 changes: 90 additions & 65 deletions aip_xx1_gen2_launch/launch/radar.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -26,6 +26,7 @@

<group if="$(eval &quot;'$(var ars_version)'=='ars548'&quot;)">
<let name="odometry_topic" value="/localization/kinematic_state"/>
<let name="twist_topic" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
<let name="acceleration_topic" value="/localization/acceleration"/>
<let name="steering_angle_topic" value="/vehicle/status/steering_status_scalar"/>
<arg name="radar_tracks_msgs_converter_param_path" default="$(find-pkg-share common_sensor_launch)/config/radar_tracks_msgs_converter.param.yaml"/>
Expand All @@ -36,9 +37,10 @@

<group>
<push-ros-namespace namespace="front_center"/>
<group>
<include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml" if="$(var launch_driver)">

<arg name="odometry_topic" value="$(var odometry_topic)"/>
<arg name="odometry_topic" value="$(var twist_topic)"/>
<arg name="acceleration_topic" value="$(var acceleration_topic)"/>
<arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>

Expand All @@ -54,23 +56,27 @@
<arg name="configuration_sensor_port" value="42101"/>

<arg name="new_plug_orientation" value="0"/>
</include>

<include file="$(find-pkg-share autoware_radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<arg name="input/radar_objects" value="objects_raw"/>
<arg name="input/odometry" value="$(var odometry_topic)"/>
<arg name="output/radar_detected_objects" value="detected_objects"/>
<arg name="output/radar_tracked_objects" value="tracked_objects"/>
<arg name="use_twist_compensation" value="false"/>
<arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
</include>
</include>
</group>

<group>
<include file="$(find-pkg-share autoware_radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<arg name="input/radar_objects" value="objects_raw"/>
<arg name="input/odometry" value="$(var odometry_topic)"/>
<arg name="output/radar_detected_objects" value="detected_objects"/>
<arg name="output/radar_tracked_objects" value="tracked_objects"/>
<arg name="use_twist_compensation" value="false"/>
<arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
</include>
</group>
</group>

<group>
<push-ros-namespace namespace="front_left"/>
<group>
<include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml" if="$(var launch_driver)">

<arg name="odometry_topic" value="$(var odometry_topic)"/>
<arg name="odometry_topic" value="$(var twist_topic)"/>
<arg name="acceleration_topic" value="$(var acceleration_topic)"/>
<arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>

Expand All @@ -86,23 +92,27 @@
<arg name="configuration_sensor_port" value="42101"/>

<arg name="new_plug_orientation" value="0"/>
</include>

<include file="$(find-pkg-share autoware_radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<arg name="input/radar_objects" value="objects_raw"/>
<arg name="input/odometry" value="$(var odometry_topic)"/>
<arg name="output/radar_detected_objects" value="detected_objects"/>
<arg name="output/radar_tracked_objects" value="tracked_objects"/>
<arg name="use_twist_compensation" value="false"/>
<arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
</include>
</include>
</group>

<group>
<include file="$(find-pkg-share autoware_radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<arg name="input/radar_objects" value="objects_raw"/>
<arg name="input/odometry" value="$(var odometry_topic)"/>
<arg name="output/radar_detected_objects" value="detected_objects"/>
<arg name="output/radar_tracked_objects" value="tracked_objects"/>
<arg name="use_twist_compensation" value="false"/>
<arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
</include>
</group>
</group>

<group>
<push-ros-namespace namespace="front_right"/>
<group>
<include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml" if="$(var launch_driver)">

<arg name="odometry_topic" value="$(var odometry_topic)"/>
<arg name="odometry_topic" value="$(var twist_topic)"/>
<arg name="acceleration_topic" value="$(var acceleration_topic)"/>
<arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>

Expand All @@ -118,23 +128,27 @@
<arg name="configuration_sensor_port" value="42101"/>

<arg name="new_plug_orientation" value="0"/>
</include>

<include file="$(find-pkg-share autoware_radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<arg name="input/radar_objects" value="objects_raw"/>
<arg name="input/odometry" value="$(var odometry_topic)"/>
<arg name="output/radar_detected_objects" value="detected_objects"/>
<arg name="output/radar_tracked_objects" value="tracked_objects"/>
<arg name="use_twist_compensation" value="false"/>
<arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
</include>
</include>
</group>

<group>
<include file="$(find-pkg-share autoware_radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<arg name="input/radar_objects" value="objects_raw"/>
<arg name="input/odometry" value="$(var odometry_topic)"/>
<arg name="output/radar_detected_objects" value="detected_objects"/>
<arg name="output/radar_tracked_objects" value="tracked_objects"/>
<arg name="use_twist_compensation" value="false"/>
<arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
</include>
</group>
</group>

<group>
<push-ros-namespace namespace="rear_center"/>
<group>
<include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml" if="$(var launch_driver)">

<arg name="odometry_topic" value="$(var odometry_topic)"/>
<arg name="odometry_topic" value="$(var twist_topic)"/>
<arg name="acceleration_topic" value="$(var acceleration_topic)"/>
<arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>

Expand All @@ -150,23 +164,27 @@
<arg name="configuration_sensor_port" value="42101"/>

<arg name="new_plug_orientation" value="0"/>
</include>

<include file="$(find-pkg-share autoware_radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<arg name="input/radar_objects" value="objects_raw"/>
<arg name="input/odometry" value="$(var odometry_topic)"/>
<arg name="output/radar_detected_objects" value="detected_objects"/>
<arg name="output/radar_tracked_objects" value="tracked_objects"/>
<arg name="use_twist_compensation" value="false"/>
<arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
</include>
</include>
</group>

<group>
<include file="$(find-pkg-share autoware_radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<arg name="input/radar_objects" value="objects_raw"/>
<arg name="input/odometry" value="$(var odometry_topic)"/>
<arg name="output/radar_detected_objects" value="detected_objects"/>
<arg name="output/radar_tracked_objects" value="tracked_objects"/>
<arg name="use_twist_compensation" value="false"/>
<arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
</include>
</group>
</group>

<group>
<push-ros-namespace namespace="rear_left"/>
<group>
<include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml" if="$(var launch_driver)">

<arg name="odometry_topic" value="$(var odometry_topic)"/>
<arg name="odometry_topic" value="$(var twist_topic)"/>
<arg name="acceleration_topic" value="$(var acceleration_topic)"/>
<arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>

Expand All @@ -182,23 +200,27 @@
<arg name="configuration_sensor_port" value="42101"/>

<arg name="new_plug_orientation" value="0"/>
</include>

<include file="$(find-pkg-share autoware_radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<arg name="input/radar_objects" value="objects_raw"/>
<arg name="input/odometry" value="$(var odometry_topic)"/>
<arg name="output/radar_detected_objects" value="detected_objects"/>
<arg name="output/radar_tracked_objects" value="tracked_objects"/>
<arg name="use_twist_compensation" value="false"/>
<arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
</include>
</include>
</group>

<group>
<include file="$(find-pkg-share autoware_radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<arg name="input/radar_objects" value="objects_raw"/>
<arg name="input/odometry" value="$(var odometry_topic)"/>
<arg name="output/radar_detected_objects" value="detected_objects"/>
<arg name="output/radar_tracked_objects" value="tracked_objects"/>
<arg name="use_twist_compensation" value="false"/>
<arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
</include>
</group>
</group>

<group>
<push-ros-namespace namespace="rear_right"/>
<group>
<include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml" if="$(var launch_driver)">

<arg name="odometry_topic" value="$(var odometry_topic)"/>
<arg name="odometry_topic" value="$(var twist_topic)"/>
<arg name="acceleration_topic" value="$(var acceleration_topic)"/>
<arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>

Expand All @@ -214,15 +236,18 @@
<arg name="configuration_sensor_port" value="42101"/>

<arg name="new_plug_orientation" value="0"/>
</include>

<include file="$(find-pkg-share autoware_radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<arg name="input/radar_objects" value="objects_raw"/>
<arg name="input/odometry" value="$(var odometry_topic)"/>
<arg name="output/radar_detected_objects" value="detected_objects"/>
<arg name="output/radar_tracked_objects" value="tracked_objects"/>
<arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
</include>
</include>
</group>

<group>
<include file="$(find-pkg-share autoware_radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<arg name="input/radar_objects" value="objects_raw"/>
<arg name="input/odometry" value="$(var odometry_topic)"/>
<arg name="output/radar_detected_objects" value="detected_objects"/>
<arg name="output/radar_tracked_objects" value="tracked_objects"/>
<arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
</include>
</group>
</group>

<!-- merge radar objects -->
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