chore: fix conflicts

Signed-off-by: vividf <[email protected]>
vividf · Sep 18, 2024 · ac66c5f · ac66c5f
1 parent e115c63
commit ac66c5f
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Showing 5 changed files with 12 additions and 11 deletions.
diff --git a/sensing/autoware_pointcloud_preprocessor/config/concatenate_and_time_sync_node.param.yaml b/sensing/autoware_pointcloud_preprocessor/config/concatenate_and_time_sync_node.param.yaml
@@ -1,5 +1,6 @@
 /**:
   ros__parameters:
+    has_static_tf_only: false
     maximum_queue_size: 5
     timeout_sec: 0.2
     is_motion_compensated: true
@@ -16,4 +17,3 @@
     output_frame: base_link
     lidar_timestamp_offsets: [0.0, 0.04, 0.08]
     lidar_timestamp_noise_window: [0.01, 0.01, 0.01]
-    has_static_tf_only: false
diff --git a/...essor/include/autoware/pointcloud_preprocessor/concatenate_data/combine_cloud_handler.hpp b/...essor/include/autoware/pointcloud_preprocessor/concatenate_data/combine_cloud_handler.hpp
@@ -92,12 +92,11 @@ class CombineCloudHandler
 {
 private:
   rclcpp::Node * node_;
-  std::unique_ptr<autoware::universe_utils::StaticTransformBuffer> managed_tf_buffer_{nullptr};
-
   std::vector<std::string> input_topics_;
   std::string output_frame_;
   bool is_motion_compensated_;
   bool keep_input_frame_in_synchronized_pointcloud_;
+  std::unique_ptr<autoware::universe_utils::ManagedTransformBuffer> managed_tf_buffer_{nullptr};
 
   struct RclcppTimeHash_
   {
@@ -112,7 +111,8 @@ class CombineCloudHandler
 
   CombineCloudHandler(
     rclcpp::Node * node, std::vector<std::string> input_topics, std::string output_frame,
-    bool is_motion_compensated, bool keep_input_frame_in_synchronized_pointcloud);
+    bool is_motion_compensated, bool keep_input_frame_in_synchronized_pointcloud,
+    bool has_static_tf_only);
   void processTwist(const geometry_msgs::msg::TwistWithCovarianceStamped::ConstSharedPtr & input);
   void processOdometry(const nav_msgs::msg::Odometry::ConstSharedPtr & input);
 

diff --git a/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/combine_cloud_handler.cpp b/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/combine_cloud_handler.cpp
@@ -74,8 +74,8 @@ CombineCloudHandler::CombineCloudHandler(
   output_frame_(output_frame),
   is_motion_compensated_(is_motion_compensated),
   keep_input_frame_in_synchronized_pointcloud_(keep_input_frame_in_synchronized_pointcloud),
-  managed_tf_buffer_ =
-    std::make_unique<autoware::universe_utils::ManagedTransformBuffer>(this, has_static_tf_only)
+  managed_tf_buffer_(
+    std::make_unique<autoware::universe_utils::ManagedTransformBuffer>(node_, has_static_tf_only))
 {
 }
 
@@ -156,8 +156,7 @@ CombineCloudHandler::combinePointClouds(
     sensor_msgs::msg::PointCloud2::SharedPtr cloud = pair.second;
 
     auto transformed_cloud_ptr = std::make_shared<sensor_msgs::msg::PointCloud2>();
-    managed_tf_buffer_->transformPointcloud(
-      output_frame_, cloud->header.frame_id, *transformed_cloud_ptr);
+    managed_tf_buffer_->transformPointcloud(output_frame_, *cloud, *transformed_cloud_ptr);
 
     topic_to_original_stamp_map[topic] = rclcpp::Time(cloud->header.stamp).seconds();
 

diff --git a/sensing/autoware_pointcloud_preprocessor/test/test_cloud_collector.cpp b/sensing/autoware_pointcloud_preprocessor/test/test_cloud_collector.cpp
@@ -41,7 +41,8 @@ class ConcatenateCloudTest : public ::testing::Test
     // Instead of "input_topics", other parameters are not unsed.
     // They just helps to setup the concatenate node
     node_options.parameter_overrides(
-      {{"maximum_queue_size", 5},
+      {{"has_static_tf_only", false},
+       {"maximum_queue_size", 5},
        {"timeout_sec", 0.2},
        {"is_motion_compensated", true},
        {"publish_synchronized_pointcloud", true},
@@ -60,7 +61,7 @@ class ConcatenateCloudTest : public ::testing::Test
     combine_cloud_handler_ =
       std::make_shared<autoware::pointcloud_preprocessor::CombineCloudHandler>(
         concatenate_node_.get(), std::vector<std::string>{"lidar_top", "lidar_left", "lidar_right"},
-        "base_link", true, true);
+        "base_link", true, true, false);
 
     collector_ = std::make_shared<autoware::pointcloud_preprocessor::CloudCollector>(
       std::dynamic_pointer_cast<

diff --git a/sensing/autoware_pointcloud_preprocessor/test/test_concatenate_node.py b/sensing/autoware_pointcloud_preprocessor/test/test_concatenate_node.py
@@ -83,6 +83,7 @@ def generate_test_description():
             ],
             parameters=[
                 {
+                    "has_static_tf_only": False,
                     "maximum_queue_size": 5,
                     "timeout_sec": TIMEOUT_SEC,
                     "is_motion_compensated": True,
@@ -470,7 +471,7 @@ def test_2_normal_inputs_with_noise(self):
         cloud_arr = get_output_points(self.msg_buffer[0])
         print("cloud_arr: ", cloud_arr)
         self.assertTrue(
-            np.allclose(cloud_arr, expected_pointcloud, atol=1e-2),
+            np.allclose(cloud_arr, expected_pointcloud, atol=2e-2),
             "The concatenation node have wierd output",
         )