Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

feat: read LiDAR calibration params from file #322

Merged
merged 3 commits into from
Oct 4, 2024
Merged

feat: read LiDAR calibration params from file #322

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
09cae00
feat: read LiDAR calibration params from file
TomohitoAndo Oct 2, 2024
b8bf288
fix pre-commit errors
TomohitoAndo Oct 4, 2024
3088271
fix pre-commit errors
TomohitoAndo Oct 4, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 2 additions & 2 deletions aip_x2_gen2_launch/launch/hesai_OT128.launch.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -26,7 +26,7 @@
<arg name="is_channel_order_top2down" default="true"/>
<arg name="horizontal_resolution" default="0.4"/>
<arg name="enable_blockage_diag" default="$(var enable_blockage_diag)"/>
<arg name="calibration" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/front_lower.csv" />
<arg name="calibration_file" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/front_lower.csv" />
<arg name="dual_return_filter_param_file" default="$(var dual_return_filter_param_file)" />
<arg name="vehicle_mirror_param_file" default="$(var vehicle_mirror_param_file)" />
<arg name="blockage_diagnostics_param_file" default="$(find-pkg-share aip_x2_gen2_launch)/config/blockage_diagnostics_param_file.yaml" />
Expand Down Expand Up @@ -61,7 +61,7 @@
<arg name="is_channel_order_top2down" value="$(var is_channel_order_top2down)"/>
<arg name="horizontal_resolution" value="$(var horizontal_resolution)"/>
<arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
<arg name="calibration" value="$(var calibration)"/>
<arg name="calibration_file" value="$(var calibration_file)"/>
<arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)"/>
<arg name="blockage_diagnostics_param_file" value="$(var blockage_diagnostics_param_file)"/>

Expand Down
4 changes: 2 additions & 2 deletions aip_x2_gen2_launch/launch/hesai_QT128.launch.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -27,7 +27,7 @@
<arg name="is_channel_order_top2down" default="true"/>
<arg name="horizontal_resolution" default="0.4"/>
<arg name="enable_blockage_diag" default="$(var enable_blockage_diag)"/>
<arg name="calibration" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/front_lower.csv" />
<arg name="calibration_file" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/front_lower.csv" />
<arg name="dual_return_filter_param_file" default="$(var dual_return_filter_param_file)" />
<arg name="vehicle_mirror_param_file" default="$(var vehicle_mirror_param_file)" />
<arg name="blockage_diagnostics_param_file" default="$(find-pkg-share aip_x2_gen2_launch)/config/blockage_diagnostics_param_file.yaml" />
Expand Down Expand Up @@ -61,7 +61,7 @@
<arg name="is_channel_order_top2down" value="$(var is_channel_order_top2down)"/>
<arg name="horizontal_resolution" value="$(var horizontal_resolution)"/>
<arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
<arg name="calibration" value="$(var calibration)"/>
<arg name="calibration_file" value="$(var calibration_file)"/>
<arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)"/>
<arg name="blockage_diagnostics_param_file" value="$(var blockage_diagnostics_param_file)"/>
</include>
Expand Down
16 changes: 8 additions & 8 deletions aip_x2_gen2_launch/launch/lidar.launch.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -53,7 +53,7 @@
<arg name="is_channel_order_top2down" value="true"/>
<arg name="horizontal_resolution" value="0.4"/>
<arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
<arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/front_lower.csv" />
<arg name="calibration_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/rear_upper.csv" />
<arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
</include>
</group>
Expand Down Expand Up @@ -86,7 +86,7 @@
<arg name="is_channel_order_top2down" value="true"/>
<arg name="horizontal_resolution" value="0.4"/>
<arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
<arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/front_lower.csv" />
<arg name="calibration_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/left_upper.csv" />
<arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
</include>
</group>
Expand Down Expand Up @@ -119,7 +119,7 @@
<arg name="is_channel_order_top2down" value="true"/>
<arg name="horizontal_resolution" value="0.4"/>
<arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
<arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/front_lower.csv" />
<arg name="calibration_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/rear_lower.csv" />
<arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
</include>
</group>
Expand Down Expand Up @@ -152,7 +152,7 @@
<arg name="is_channel_order_top2down" value="true"/>
<arg name="horizontal_resolution" value="0.4"/>
<arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
<arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/front_lower.csv" />
<arg name="calibration_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/left_lower.csv" />
<arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
</include>
</group>
Expand Down Expand Up @@ -186,7 +186,7 @@
<arg name="is_channel_order_top2down" value="true"/>
<arg name="horizontal_resolution" value="0.4"/>
<arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
<arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/front_lower.csv" />
<arg name="calibration_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/front_upper.csv" />
<arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
</include>
</group>
Expand Down Expand Up @@ -219,7 +219,7 @@
<arg name="is_channel_order_top2down" value="true"/>
<arg name="horizontal_resolution" value="0.4"/>
<arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
<arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/front_lower.csv" />
<arg name="calibration_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/right_upper.csv" />
<arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
</include>
</group>
Expand Down Expand Up @@ -252,7 +252,7 @@
<arg name="is_channel_order_top2down" value="true"/>
<arg name="horizontal_resolution" value="0.4"/>
<arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
<arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/front_lower.csv" />
<arg name="calibration_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/front_lower.csv" />
<arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
</include>
</group>
Expand Down Expand Up @@ -285,7 +285,7 @@
<arg name="is_channel_order_top2down" value="true"/>
<arg name="horizontal_resolution" value="0.4"/>
<arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
<arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/front_lower.csv" />
<arg name="calibration_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/right_lower.csv" />
<arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
</include>
</group>
Expand Down
19 changes: 3 additions & 16 deletions aip_x2_gen2_launch/launch/nebula_node_container.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,9 +12,6 @@
# 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 Down Expand Up @@ -83,18 +80,6 @@ def str2vector(string):
# 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,
)
assert os.path.exists(
sensor_calib_fp
), "Sensor calib file under calibration/ was not found: {}".format(sensor_calib_fp)

glog_component = ComposableNode(
package="glog_component",
Expand All @@ -108,7 +93,6 @@ def str2vector(string):
name=sensor_make.lower() + "_ros_wrapper_node",
parameters=[
{
"calibration_file": sensor_calib_fp,
"sensor_model": sensor_model,
"point_filters": "{}",
**create_parameter_dict(
Expand All @@ -134,6 +118,7 @@ def str2vector(string):
"ptp_switch_type",
"ptp_domain",
"diag_span",
"calibration_file",
),
"launch_hw": True,
"retry_hw": True,
Expand Down Expand Up @@ -383,6 +368,8 @@ def add_launch_arg(name: str, default_value=None, description=None):
add_launch_arg("max_azimuth_deg", "225.0")
add_launch_arg("enable_blockage_diag", "true")

add_launch_arg("calibration_file", "")

set_container_executable = SetLaunchConfiguration(
"container_executable",
"component_container",
Expand Down
Loading