From 60ecb868f1967b77ae29b3dd11b1bef2210105c1 Mon Sep 17 00:00:00 2001 From: vividf Date: Wed, 18 Sep 2024 17:02:12 +0900 Subject: [PATCH] feat: add parameter for aip_launcher_x2 Signed-off-by: vividf --- aip_x2_launch/config/distortion_corrector_node.param.yaml | 6 ++++++ aip_x2_launch/launch/pandar_node_container.launch.py | 5 +++++ 2 files changed, 11 insertions(+) create mode 100644 aip_x2_launch/config/distortion_corrector_node.param.yaml diff --git a/aip_x2_launch/config/distortion_corrector_node.param.yaml b/aip_x2_launch/config/distortion_corrector_node.param.yaml new file mode 100644 index 00000000..eca08c37 --- /dev/null +++ b/aip_x2_launch/config/distortion_corrector_node.param.yaml @@ -0,0 +1,6 @@ +/**: + ros__parameters: + base_frame: base_link + use_imu: true + use_3d_distortion_correction: false + has_static_tf_only: true diff --git a/aip_x2_launch/launch/pandar_node_container.launch.py b/aip_x2_launch/launch/pandar_node_container.launch.py index 17a1d97c..d1e79bb7 100644 --- a/aip_x2_launch/launch/pandar_node_container.launch.py +++ b/aip_x2_launch/launch/pandar_node_container.launch.py @@ -203,6 +203,7 @@ def create_parameter_dict(*args): ("~/input/pointcloud", "mirror_cropped/pointcloud_ex"), ("~/output/pointcloud", "rectified/pointcloud_ex"), ], + parameters=[load_composable_node_param("distortion_corrector_node_param_file")], extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], ) @@ -343,6 +344,10 @@ def add_launch_arg(name: str, default_value=None): "blockage_diagnostics_param_file", [FindPackageShare("aip_x2_launch"), "/config/blockage_diagnostics_param_file.yaml"], ) + add_launch_arg( + "distortion_corrector_node_param_file", + [FindPackageShare("aip_x2_launch"), "/config/distortion_corrector_node.param.yaml"], + ) add_launch_arg("vehicle_mirror_param_file") add_launch_arg("use_multithread", "true") add_launch_arg("use_intra_process", "true")