From 0637afec06d06804eb2ddd06b03c4af04b7a4355 Mon Sep 17 00:00:00 2001 From: mitsudome-r Date: Fri, 18 Sep 2020 14:48:09 +0900 Subject: [PATCH 01/36] release v0.4.0 --- launch/localization_launch/CMakeLists.txt | 12 ++++ .../launch/localization.launch | 28 +++++++++ .../pose_estimator/pose_estimator.launch | 15 +++++ .../pose_twist_fusion_filter.launch | 26 +++++++++ .../twist_estimator/twist_estimator.launch | 7 +++ .../launch/util/util.launch | 45 ++++++++++++++ launch/localization_launch/package.xml | 58 +++++++++++++++++++ 7 files changed, 191 insertions(+) create mode 100644 launch/localization_launch/CMakeLists.txt create mode 100644 launch/localization_launch/launch/localization.launch create mode 100644 launch/localization_launch/launch/pose_estimator/pose_estimator.launch create mode 100644 launch/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch create mode 100644 launch/localization_launch/launch/twist_estimator/twist_estimator.launch create mode 100644 launch/localization_launch/launch/util/util.launch create mode 100644 launch/localization_launch/package.xml diff --git a/launch/localization_launch/CMakeLists.txt b/launch/localization_launch/CMakeLists.txt new file mode 100644 index 000000000000..047892fac7e8 --- /dev/null +++ b/launch/localization_launch/CMakeLists.txt @@ -0,0 +1,12 @@ +cmake_minimum_required(VERSION 2.8.3) +project(localization_launch) + +find_package(catkin REQUIRED) + +catkin_package() + +install( + DIRECTORY + launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) diff --git a/launch/localization_launch/launch/localization.launch b/launch/localization_launch/launch/localization.launch new file mode 100644 index 000000000000..1543c92629d0 --- /dev/null +++ b/launch/localization_launch/launch/localization.launch @@ -0,0 +1,28 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/launch/localization_launch/launch/pose_estimator/pose_estimator.launch b/launch/localization_launch/launch/pose_estimator/pose_estimator.launch new file mode 100644 index 000000000000..f70e6d3145a0 --- /dev/null +++ b/launch/localization_launch/launch/pose_estimator/pose_estimator.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/launch/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch b/launch/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch new file mode 100644 index 000000000000..76310afb0e99 --- /dev/null +++ b/launch/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/launch/localization_launch/launch/twist_estimator/twist_estimator.launch b/launch/localization_launch/launch/twist_estimator/twist_estimator.launch new file mode 100644 index 000000000000..da8198ef724c --- /dev/null +++ b/launch/localization_launch/launch/twist_estimator/twist_estimator.launch @@ -0,0 +1,7 @@ + + + + + + + diff --git a/launch/localization_launch/launch/util/util.launch b/launch/localization_launch/launch/util/util.launch new file mode 100644 index 000000000000..a0558ce968a6 --- /dev/null +++ b/launch/localization_launch/launch/util/util.launch @@ -0,0 +1,45 @@ + + + + + + + + + + + + + + + + + + + + + min_x: -60.0 + max_x: 60.0 + min_y: -60.0 + max_y: 60.0 + min_z: -30.0 + max_z: 50.0 + negative: False + + + + + + + + + + + + voxel_size_x: 3.0 + voxel_size_y: 3.0 + voxel_size_z: 3.0 + + + + diff --git a/launch/localization_launch/package.xml b/launch/localization_launch/package.xml new file mode 100644 index 000000000000..48230f21cb84 --- /dev/null +++ b/launch/localization_launch/package.xml @@ -0,0 +1,58 @@ + + + localization_launch + 0.1.0 + The localization_launch package + + + + + Yamato Ando + + + + + + Apache 2 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + + + + + + + From 3cdc3139dd3d02e8be99ff84baa9a6ea8646a0bd Mon Sep 17 00:00:00 2001 From: mitsudome-r Date: Tue, 6 Oct 2020 13:34:48 +0900 Subject: [PATCH 02/36] removed ROS1 package Signed-off-by: mitsudome-r --- launch/localization_launch/CMakeLists.txt | 12 ---- .../launch/localization.launch | 28 --------- .../pose_estimator/pose_estimator.launch | 15 ----- .../pose_twist_fusion_filter.launch | 26 --------- .../twist_estimator/twist_estimator.launch | 7 --- .../launch/util/util.launch | 45 -------------- launch/localization_launch/package.xml | 58 ------------------- 7 files changed, 191 deletions(-) delete mode 100644 launch/localization_launch/CMakeLists.txt delete mode 100644 launch/localization_launch/launch/localization.launch delete mode 100644 launch/localization_launch/launch/pose_estimator/pose_estimator.launch delete mode 100644 launch/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch delete mode 100644 launch/localization_launch/launch/twist_estimator/twist_estimator.launch delete mode 100644 launch/localization_launch/launch/util/util.launch delete mode 100644 launch/localization_launch/package.xml diff --git a/launch/localization_launch/CMakeLists.txt b/launch/localization_launch/CMakeLists.txt deleted file mode 100644 index 047892fac7e8..000000000000 --- a/launch/localization_launch/CMakeLists.txt +++ /dev/null @@ -1,12 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(localization_launch) - -find_package(catkin REQUIRED) - -catkin_package() - -install( - DIRECTORY - launch - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -) diff --git a/launch/localization_launch/launch/localization.launch b/launch/localization_launch/launch/localization.launch deleted file mode 100644 index 1543c92629d0..000000000000 --- a/launch/localization_launch/launch/localization.launch +++ /dev/null @@ -1,28 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/launch/localization_launch/launch/pose_estimator/pose_estimator.launch b/launch/localization_launch/launch/pose_estimator/pose_estimator.launch deleted file mode 100644 index f70e6d3145a0..000000000000 --- a/launch/localization_launch/launch/pose_estimator/pose_estimator.launch +++ /dev/null @@ -1,15 +0,0 @@ - - - - - - - - - - - - - - - diff --git a/launch/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch b/launch/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch deleted file mode 100644 index 76310afb0e99..000000000000 --- a/launch/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch +++ /dev/null @@ -1,26 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/launch/localization_launch/launch/twist_estimator/twist_estimator.launch b/launch/localization_launch/launch/twist_estimator/twist_estimator.launch deleted file mode 100644 index da8198ef724c..000000000000 --- a/launch/localization_launch/launch/twist_estimator/twist_estimator.launch +++ /dev/null @@ -1,7 +0,0 @@ - - - - - - - diff --git a/launch/localization_launch/launch/util/util.launch b/launch/localization_launch/launch/util/util.launch deleted file mode 100644 index a0558ce968a6..000000000000 --- a/launch/localization_launch/launch/util/util.launch +++ /dev/null @@ -1,45 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - min_x: -60.0 - max_x: 60.0 - min_y: -60.0 - max_y: 60.0 - min_z: -30.0 - max_z: 50.0 - negative: False - - - - - - - - - - - - voxel_size_x: 3.0 - voxel_size_y: 3.0 - voxel_size_z: 3.0 - - - - diff --git a/launch/localization_launch/package.xml b/launch/localization_launch/package.xml deleted file mode 100644 index 48230f21cb84..000000000000 --- a/launch/localization_launch/package.xml +++ /dev/null @@ -1,58 +0,0 @@ - - - localization_launch - 0.1.0 - The localization_launch package - - - - - Yamato Ando - - - - - - Apache 2 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - - - - - - - From a0dc0d7c819249c55b93443450763a40c2ab3f40 Mon Sep 17 00:00:00 2001 From: mitsudome-r Date: Thu, 8 Oct 2020 17:42:29 +0900 Subject: [PATCH 03/36] Revert "removed ROS1 package" This reverts commit efeb029d17c4fb14de1542512574742a4cb05de8. --- launch/localization_launch/CMakeLists.txt | 12 ++++ .../launch/localization.launch | 28 +++++++++ .../pose_estimator/pose_estimator.launch | 15 +++++ .../pose_twist_fusion_filter.launch | 26 +++++++++ .../twist_estimator/twist_estimator.launch | 7 +++ .../launch/util/util.launch | 45 ++++++++++++++ launch/localization_launch/package.xml | 58 +++++++++++++++++++ 7 files changed, 191 insertions(+) create mode 100644 launch/localization_launch/CMakeLists.txt create mode 100644 launch/localization_launch/launch/localization.launch create mode 100644 launch/localization_launch/launch/pose_estimator/pose_estimator.launch create mode 100644 launch/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch create mode 100644 launch/localization_launch/launch/twist_estimator/twist_estimator.launch create mode 100644 launch/localization_launch/launch/util/util.launch create mode 100644 launch/localization_launch/package.xml diff --git a/launch/localization_launch/CMakeLists.txt b/launch/localization_launch/CMakeLists.txt new file mode 100644 index 000000000000..047892fac7e8 --- /dev/null +++ b/launch/localization_launch/CMakeLists.txt @@ -0,0 +1,12 @@ +cmake_minimum_required(VERSION 2.8.3) +project(localization_launch) + +find_package(catkin REQUIRED) + +catkin_package() + +install( + DIRECTORY + launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) diff --git a/launch/localization_launch/launch/localization.launch b/launch/localization_launch/launch/localization.launch new file mode 100644 index 000000000000..1543c92629d0 --- /dev/null +++ b/launch/localization_launch/launch/localization.launch @@ -0,0 +1,28 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/launch/localization_launch/launch/pose_estimator/pose_estimator.launch b/launch/localization_launch/launch/pose_estimator/pose_estimator.launch new file mode 100644 index 000000000000..f70e6d3145a0 --- /dev/null +++ b/launch/localization_launch/launch/pose_estimator/pose_estimator.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/launch/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch b/launch/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch new file mode 100644 index 000000000000..76310afb0e99 --- /dev/null +++ b/launch/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/launch/localization_launch/launch/twist_estimator/twist_estimator.launch b/launch/localization_launch/launch/twist_estimator/twist_estimator.launch new file mode 100644 index 000000000000..da8198ef724c --- /dev/null +++ b/launch/localization_launch/launch/twist_estimator/twist_estimator.launch @@ -0,0 +1,7 @@ + + + + + + + diff --git a/launch/localization_launch/launch/util/util.launch b/launch/localization_launch/launch/util/util.launch new file mode 100644 index 000000000000..a0558ce968a6 --- /dev/null +++ b/launch/localization_launch/launch/util/util.launch @@ -0,0 +1,45 @@ + + + + + + + + + + + + + + + + + + + + + min_x: -60.0 + max_x: 60.0 + min_y: -60.0 + max_y: 60.0 + min_z: -30.0 + max_z: 50.0 + negative: False + + + + + + + + + + + + voxel_size_x: 3.0 + voxel_size_y: 3.0 + voxel_size_z: 3.0 + + + + diff --git a/launch/localization_launch/package.xml b/launch/localization_launch/package.xml new file mode 100644 index 000000000000..48230f21cb84 --- /dev/null +++ b/launch/localization_launch/package.xml @@ -0,0 +1,58 @@ + + + localization_launch + 0.1.0 + The localization_launch package + + + + + Yamato Ando + + + + + + Apache 2 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + + + + + + + From b1ba72d63967fc9c89870c00e2b4cac22f9d7231 Mon Sep 17 00:00:00 2001 From: mitsudome-r Date: Thu, 8 Oct 2020 17:43:36 +0900 Subject: [PATCH 04/36] add COLCON_IGNORE file to all ROS1 packages Signed-off-by: mitsudome-r --- launch/localization_launch/COLCON_IGNORE | 0 1 file changed, 0 insertions(+), 0 deletions(-) create mode 100644 launch/localization_launch/COLCON_IGNORE diff --git a/launch/localization_launch/COLCON_IGNORE b/launch/localization_launch/COLCON_IGNORE new file mode 100644 index 000000000000..e69de29bb2d1 From b0d890d21793a563497fcacdb9eec014ae87391e Mon Sep 17 00:00:00 2001 From: mitsudome-r Date: Fri, 23 Oct 2020 17:34:33 +0900 Subject: [PATCH 05/36] rename *.launch files to *.launch.xml Signed-off-by: mitsudome-r --- .../launch/{localization.launch => localization.launch.xml} | 0 .../{pose_estimator.launch => pose_estimator.launch.xml} | 0 ...t_fusion_filter.launch => pose_twist_fusion_filter.launch.xml} | 0 .../{twist_estimator.launch => twist_estimator.launch.xml} | 0 .../launch/util/{util.launch => util.launch.xml} | 0 5 files changed, 0 insertions(+), 0 deletions(-) rename launch/localization_launch/launch/{localization.launch => localization.launch.xml} (100%) rename launch/localization_launch/launch/pose_estimator/{pose_estimator.launch => pose_estimator.launch.xml} (100%) rename launch/localization_launch/launch/pose_twist_fusion_filter/{pose_twist_fusion_filter.launch => pose_twist_fusion_filter.launch.xml} (100%) rename launch/localization_launch/launch/twist_estimator/{twist_estimator.launch => twist_estimator.launch.xml} (100%) rename launch/localization_launch/launch/util/{util.launch => util.launch.xml} (100%) diff --git a/launch/localization_launch/launch/localization.launch b/launch/localization_launch/launch/localization.launch.xml similarity index 100% rename from launch/localization_launch/launch/localization.launch rename to launch/localization_launch/launch/localization.launch.xml diff --git a/launch/localization_launch/launch/pose_estimator/pose_estimator.launch b/launch/localization_launch/launch/pose_estimator/pose_estimator.launch.xml similarity index 100% rename from launch/localization_launch/launch/pose_estimator/pose_estimator.launch rename to launch/localization_launch/launch/pose_estimator/pose_estimator.launch.xml diff --git a/launch/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch b/launch/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml similarity index 100% rename from launch/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch rename to launch/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml diff --git a/launch/localization_launch/launch/twist_estimator/twist_estimator.launch b/launch/localization_launch/launch/twist_estimator/twist_estimator.launch.xml similarity index 100% rename from launch/localization_launch/launch/twist_estimator/twist_estimator.launch rename to launch/localization_launch/launch/twist_estimator/twist_estimator.launch.xml diff --git a/launch/localization_launch/launch/util/util.launch b/launch/localization_launch/launch/util/util.launch.xml similarity index 100% rename from launch/localization_launch/launch/util/util.launch rename to launch/localization_launch/launch/util/util.launch.xml From 53dc866d574b52ef4ff007efe0c7e082a1f5c611 Mon Sep 17 00:00:00 2001 From: Yunus Emre Caliskan Date: Tue, 10 Nov 2020 15:44:47 +0100 Subject: [PATCH 06/36] Port localization_launch to ros2 --- launch/localization_launch/CMakeLists.txt | 20 +++++---- launch/localization_launch/COLCON_IGNORE | 0 .../launch/localization.launch.xml | 29 +++++++----- .../pose_estimator/pose_estimator.launch.xml | 2 +- .../pose_twist_fusion_filter.launch.xml | 40 ++++++++--------- .../twist_estimator.launch.xml | 2 +- .../launch/util/util.launch.xml | 20 ++++----- launch/localization_launch/package.xml | 45 +++++-------------- 8 files changed, 73 insertions(+), 85 deletions(-) delete mode 100644 launch/localization_launch/COLCON_IGNORE diff --git a/launch/localization_launch/CMakeLists.txt b/launch/localization_launch/CMakeLists.txt index 047892fac7e8..ccb239a68a66 100644 --- a/launch/localization_launch/CMakeLists.txt +++ b/launch/localization_launch/CMakeLists.txt @@ -1,12 +1,16 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.5) project(localization_launch) -find_package(catkin REQUIRED) +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 14) +endif() +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic -Wno-unused-parameter) +endif() -catkin_package() +find_package(ament_cmake_auto REQUIRED) +ament_auto_find_build_dependencies() -install( - DIRECTORY - launch - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -) +ament_auto_package(INSTALL_TO_SHARE + launch + ) \ No newline at end of file diff --git a/launch/localization_launch/COLCON_IGNORE b/launch/localization_launch/COLCON_IGNORE deleted file mode 100644 index e69de29bb2d1..000000000000 diff --git a/launch/localization_launch/launch/localization.launch.xml b/launch/localization_launch/launch/localization.launch.xml index 1543c92629d0..151d482deacf 100644 --- a/launch/localization_launch/launch/localization.launch.xml +++ b/launch/localization_launch/launch/localization.launch.xml @@ -1,28 +1,37 @@ - + + - - + + + - - + + + - - + + + - - + + + - + + + + + diff --git a/launch/localization_launch/launch/pose_estimator/pose_estimator.launch.xml b/launch/localization_launch/launch/pose_estimator/pose_estimator.launch.xml index f70e6d3145a0..2ceb02097a2b 100644 --- a/launch/localization_launch/launch/pose_estimator/pose_estimator.launch.xml +++ b/launch/localization_launch/launch/pose_estimator/pose_estimator.launch.xml @@ -1,6 +1,6 @@ - + diff --git a/launch/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml b/launch/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml index 76310afb0e99..6af8ed22ee88 100644 --- a/launch/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml +++ b/launch/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml @@ -1,26 +1,26 @@ - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + - + - - + + diff --git a/launch/localization_launch/launch/twist_estimator/twist_estimator.launch.xml b/launch/localization_launch/launch/twist_estimator/twist_estimator.launch.xml index da8198ef724c..8b8eb7960166 100644 --- a/launch/localization_launch/launch/twist_estimator/twist_estimator.launch.xml +++ b/launch/localization_launch/launch/twist_estimator/twist_estimator.launch.xml @@ -1,6 +1,6 @@ - + diff --git a/launch/localization_launch/launch/util/util.launch.xml b/launch/localization_launch/launch/util/util.launch.xml index a0558ce968a6..18e0f0a2ae64 100644 --- a/launch/localization_launch/launch/util/util.launch.xml +++ b/launch/localization_launch/launch/util/util.launch.xml @@ -10,13 +10,13 @@ - - + + - - - + + + min_x: -60.0 max_x: 60.0 @@ -26,15 +26,15 @@ max_z: 50.0 negative: False - - + + - - - + + + voxel_size_x: 3.0 voxel_size_y: 3.0 diff --git a/launch/localization_launch/package.xml b/launch/localization_launch/package.xml index 48230f21cb84..e4ccb2e7c642 100644 --- a/launch/localization_launch/package.xml +++ b/launch/localization_launch/package.xml @@ -1,5 +1,6 @@ - + + localization_launch 0.1.0 The localization_launch package @@ -15,44 +16,18 @@ Apache 2 + ament_cmake_auto - - - - + ndt_scan_matcher + ekf_localizer + gyro_odometer + pose_initializer + pointcloud_preprocessor + topic_tools - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - - - + ament_cmake From a847219b29566c801144a2a8d37ec73602554aaf Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Mon, 21 Dec 2020 16:57:19 +0900 Subject: [PATCH 07/36] fix syntax (#33) Signed-off-by: Takamasa Horibe --- .../launch/util/util.launch.xml | 24 ++++++++----------- 1 file changed, 10 insertions(+), 14 deletions(-) diff --git a/launch/localization_launch/launch/util/util.launch.xml b/launch/localization_launch/launch/util/util.launch.xml index 18e0f0a2ae64..3904103c02a6 100644 --- a/launch/localization_launch/launch/util/util.launch.xml +++ b/launch/localization_launch/launch/util/util.launch.xml @@ -17,15 +17,13 @@ - - min_x: -60.0 - max_x: 60.0 - min_y: -60.0 - max_y: 60.0 - min_z: -30.0 - max_z: 50.0 - negative: False - + + + + + + + @@ -35,11 +33,9 @@ - - voxel_size_x: 3.0 - voxel_size_y: 3.0 - voxel_size_z: 3.0 - + + + From f6ac5c51fd2953c235b7314cb6a4b59eca8582c4 Mon Sep 17 00:00:00 2001 From: Jilada Eccleston Date: Thu, 14 Jan 2021 00:08:19 +0900 Subject: [PATCH 08/36] ROS2 Linting: localization_launch (#39) * Add linters to localization_launch package * Add new line * Fix indentation --- launch/localization_launch/CMakeLists.txt | 13 +++++++++---- launch/localization_launch/package.xml | 12 +++--------- 2 files changed, 12 insertions(+), 13 deletions(-) diff --git a/launch/localization_launch/CMakeLists.txt b/launch/localization_launch/CMakeLists.txt index ccb239a68a66..5f76d89e4220 100644 --- a/launch/localization_launch/CMakeLists.txt +++ b/launch/localization_launch/CMakeLists.txt @@ -2,15 +2,20 @@ cmake_minimum_required(VERSION 3.5) project(localization_launch) if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) + set(CMAKE_CXX_STANDARD 14) endif() if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Wno-unused-parameter) + add_compile_options(-Wall -Wextra -Wpedantic -Wno-unused-parameter) endif() find_package(ament_cmake_auto REQUIRED) ament_auto_find_build_dependencies() +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + ament_auto_package(INSTALL_TO_SHARE - launch - ) \ No newline at end of file + launch +) diff --git a/launch/localization_launch/package.xml b/launch/localization_launch/package.xml index e4ccb2e7c642..3dc295d636e5 100644 --- a/launch/localization_launch/package.xml +++ b/launch/localization_launch/package.xml @@ -5,16 +5,9 @@ 0.1.0 The localization_launch package - - - Yamato Ando - - - - - Apache 2 + Apache License 2.0 ament_cmake_auto @@ -25,8 +18,9 @@ pointcloud_preprocessor topic_tools + ament_lint_auto + ament_lint_common - ament_cmake From 1d8021fff568e1557e4623e38e38b4006452a4d3 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Tue, 16 Feb 2021 14:05:23 +0900 Subject: [PATCH 09/36] Ros2 v0.8.0 localization launch (#54) * restore file name for v0.8.0 update in localization launch Signed-off-by: Takamasa Horibe * add random sample (#84) Signed-off-by: Yamato Ando * Add ndt_scan_matcher.yaml (#162) Signed-off-by: Yuma Nihei * ]Revert "restore file name for v0.8.0 update in localization launch" This reverts commit f589733f7dad05989bde323baeb5c43a62cd26e1. * fix param type Signed-off-by: Takamasa Horibe * fix exec name Signed-off-by: Takamasa Horibe Co-authored-by: YamatoAndo Co-authored-by: Yuma Nihei --- launch/localization_launch/CMakeLists.txt | 1 + .../config/ndt_scan_matcher.yaml | 34 +++++++++++++++++++ .../pose_estimator/pose_estimator.launch.xml | 1 + .../launch/util/util.launch.xml | 11 ++++-- 4 files changed, 45 insertions(+), 2 deletions(-) create mode 100644 launch/localization_launch/config/ndt_scan_matcher.yaml diff --git a/launch/localization_launch/CMakeLists.txt b/launch/localization_launch/CMakeLists.txt index 5f76d89e4220..9815ea4b7c62 100644 --- a/launch/localization_launch/CMakeLists.txt +++ b/launch/localization_launch/CMakeLists.txt @@ -18,4 +18,5 @@ endif() ament_auto_package(INSTALL_TO_SHARE launch + config ) diff --git a/launch/localization_launch/config/ndt_scan_matcher.yaml b/launch/localization_launch/config/ndt_scan_matcher.yaml new file mode 100644 index 000000000000..0956b330821e --- /dev/null +++ b/launch/localization_launch/config/ndt_scan_matcher.yaml @@ -0,0 +1,34 @@ +/**: + ros__parameters: + # Vehicle reference frame + base_frame: "base_link" + + # Subscriber queue size + input_sensor_points_queue_size: 1 + + # NDT implementation type + # 0=PCL_GENERIC, 1=PCL_MODIFIED, 2=OMP + ndt_implement_type: 2 + + # The maximum difference between two consecutive + # transformations in order to consider convergence + trans_epsilon: 0.01 + + # The newton line search maximum step length + step_size: 0.1 + + # The ND voxel grid resolution + resolution: 2.0 + + # The number of iterations required to calculate alignment + max_iterations: 30 + + # Threshold for deciding whetherto trust the estimation result + converged_param_transform_probability: 3.0 + + # neighborhood search method in OMP + # 0=KDTREE, 1=DIRECT26, 2=DIRECT7, 3=DIRECT1 + omp_neighborhood_search_method: 0 + + # Number of threads used for parallel computing + omp_num_threads: 4 diff --git a/launch/localization_launch/launch/pose_estimator/pose_estimator.launch.xml b/launch/localization_launch/launch/pose_estimator/pose_estimator.launch.xml index 2ceb02097a2b..3b5bd6ab947c 100644 --- a/launch/localization_launch/launch/pose_estimator/pose_estimator.launch.xml +++ b/launch/localization_launch/launch/pose_estimator/pose_estimator.launch.xml @@ -10,6 +10,7 @@ + diff --git a/launch/localization_launch/launch/util/util.launch.xml b/launch/localization_launch/launch/util/util.launch.xml index 3904103c02a6..ebae50cf3fd4 100644 --- a/launch/localization_launch/launch/util/util.launch.xml +++ b/launch/localization_launch/launch/util/util.launch.xml @@ -4,6 +4,7 @@ + @@ -30,12 +31,18 @@ - + - + + + + + + + From 230799cf7658cf083f527aa2d8c279a1cfd82d34 Mon Sep 17 00:00:00 2001 From: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Date: Wed, 24 Feb 2021 19:21:08 +0900 Subject: [PATCH 10/36] Rename ROS-related .yaml to .param.yaml (#65) * Rename ROS-related .yaml to .param.yaml Signed-off-by: Kenji Miyake * Add missing '--' Signed-off-by: Kenji Miyake * Rename vehicle_info.yaml to vehicle_info.param.yaml Signed-off-by: Kenji Miyake * Fix livox param name Signed-off-by: Kenji Miyake --- .../{ndt_scan_matcher.yaml => ndt_scan_matcher.param.yaml} | 0 .../launch/pose_estimator/pose_estimator.launch.xml | 2 +- 2 files changed, 1 insertion(+), 1 deletion(-) rename launch/localization_launch/config/{ndt_scan_matcher.yaml => ndt_scan_matcher.param.yaml} (100%) diff --git a/launch/localization_launch/config/ndt_scan_matcher.yaml b/launch/localization_launch/config/ndt_scan_matcher.param.yaml similarity index 100% rename from launch/localization_launch/config/ndt_scan_matcher.yaml rename to launch/localization_launch/config/ndt_scan_matcher.param.yaml diff --git a/launch/localization_launch/launch/pose_estimator/pose_estimator.launch.xml b/launch/localization_launch/launch/pose_estimator/pose_estimator.launch.xml index 3b5bd6ab947c..ce949fd34bd8 100644 --- a/launch/localization_launch/launch/pose_estimator/pose_estimator.launch.xml +++ b/launch/localization_launch/launch/pose_estimator/pose_estimator.launch.xml @@ -10,7 +10,7 @@ - + From 6958005bb89d49729e19025cfb758ae4e7dea123 Mon Sep 17 00:00:00 2001 From: Taichi Higashide Date: Tue, 2 Mar 2021 18:02:19 +0900 Subject: [PATCH 11/36] add localization_error_monitor launch (#75) --- launch/localization_launch/launch/localization.launch.xml | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/launch/localization_launch/launch/localization.launch.xml b/launch/localization_launch/launch/localization.launch.xml index 151d482deacf..116c00fe9ebe 100644 --- a/launch/localization_launch/launch/localization.launch.xml +++ b/launch/localization_launch/launch/localization.launch.xml @@ -27,6 +27,10 @@ + + + + From 98f6ae9719b866f30e05d9221bf35877c7fc6d1e Mon Sep 17 00:00:00 2001 From: Kazuki Miyahara Date: Wed, 24 Mar 2021 17:04:30 +0900 Subject: [PATCH 12/36] Fix various typos in launch files (#97) --- .../config/ndt_scan_matcher.param.yaml | 2 +- launch/localization_launch/launch/util/util.launch.xml | 8 ++++---- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/launch/localization_launch/config/ndt_scan_matcher.param.yaml b/launch/localization_launch/config/ndt_scan_matcher.param.yaml index 0956b330821e..0448d1fc6397 100644 --- a/launch/localization_launch/config/ndt_scan_matcher.param.yaml +++ b/launch/localization_launch/config/ndt_scan_matcher.param.yaml @@ -23,7 +23,7 @@ # The number of iterations required to calculate alignment max_iterations: 30 - # Threshold for deciding whetherto trust the estimation result + # Threshold for deciding whether to trust the estimation result converged_param_transform_probability: 3.0 # neighborhood search method in OMP diff --git a/launch/localization_launch/launch/util/util.launch.xml b/launch/localization_launch/launch/util/util.launch.xml index ebae50cf3fd4..34117469e7ba 100644 --- a/launch/localization_launch/launch/util/util.launch.xml +++ b/launch/localization_launch/launch/util/util.launch.xml @@ -3,7 +3,7 @@ - + @@ -15,9 +15,9 @@ - + - + @@ -32,7 +32,7 @@ - + From 271a68f367b527c1a9142e9f1aff14010501b648 Mon Sep 17 00:00:00 2001 From: tkimura4 Date: Fri, 26 Mar 2021 09:46:23 +0900 Subject: [PATCH 13/36] add use_sim-time option (#99) --- launch/localization_launch/launch/localization.launch.xml | 1 + launch/localization_launch/launch/util/util.launch.xml | 3 +++ 2 files changed, 4 insertions(+) diff --git a/launch/localization_launch/launch/localization.launch.xml b/launch/localization_launch/launch/localization.launch.xml index 116c00fe9ebe..2ecbbf8c55f8 100644 --- a/launch/localization_launch/launch/localization.launch.xml +++ b/launch/localization_launch/launch/localization.launch.xml @@ -33,6 +33,7 @@ + diff --git a/launch/localization_launch/launch/util/util.launch.xml b/launch/localization_launch/launch/util/util.launch.xml index 34117469e7ba..2f383f826653 100644 --- a/launch/localization_launch/launch/util/util.launch.xml +++ b/launch/localization_launch/launch/util/util.launch.xml @@ -16,6 +16,7 @@ + @@ -32,6 +33,7 @@ + @@ -40,6 +42,7 @@ + From 69cebb6c71f00010cd1147fa1e7895f0b196758a Mon Sep 17 00:00:00 2001 From: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Date: Mon, 5 Apr 2021 13:34:45 +0900 Subject: [PATCH 14/36] Replace doc by description (#182) Signed-off-by: Kenji Miyake --- .../launch/twist_estimator/twist_estimator.launch.xml | 4 ++-- launch/localization_launch/launch/util/util.launch.xml | 10 +++++----- 2 files changed, 7 insertions(+), 7 deletions(-) diff --git a/launch/localization_launch/launch/twist_estimator/twist_estimator.launch.xml b/launch/localization_launch/launch/twist_estimator/twist_estimator.launch.xml index 8b8eb7960166..4333c886145e 100644 --- a/launch/localization_launch/launch/twist_estimator/twist_estimator.launch.xml +++ b/launch/localization_launch/launch/twist_estimator/twist_estimator.launch.xml @@ -1,7 +1,7 @@ - - + + diff --git a/launch/localization_launch/launch/util/util.launch.xml b/launch/localization_launch/launch/util/util.launch.xml index 2f383f826653..10a272134acc 100644 --- a/launch/localization_launch/launch/util/util.launch.xml +++ b/launch/localization_launch/launch/util/util.launch.xml @@ -2,13 +2,13 @@ - - - - + + + + - + From 749610537ecd0b9de0e1f254746a64d1186ae79a Mon Sep 17 00:00:00 2001 From: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Date: Tue, 6 Apr 2021 11:00:26 +0900 Subject: [PATCH 15/36] Ros2 lsim test (#186) * Add group to launch file for var scope Signed-off-by: Takagi, Isamu * Remove pointcloud relay for localization Signed-off-by: Takagi, Isamu * Add use_sim_time Signed-off-by: Takagi, Isamu * Remove pointcloud relay for localization Signed-off-by: Takagi, Isamu Co-authored-by: Takagi, Isamu --- launch/localization_launch/launch/util/util.launch.xml | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/launch/localization_launch/launch/util/util.launch.xml b/launch/localization_launch/launch/util/util.launch.xml index 10a272134acc..f52eaacef597 100644 --- a/launch/localization_launch/launch/util/util.launch.xml +++ b/launch/localization_launch/launch/util/util.launch.xml @@ -2,7 +2,7 @@ - + @@ -16,7 +16,7 @@ - + @@ -25,12 +25,11 @@ - + - From d1a73d398f45b0092635343cdef3f77690c15db4 Mon Sep 17 00:00:00 2001 From: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Date: Sun, 11 Apr 2021 08:58:48 +0900 Subject: [PATCH 16/36] Fix invalid attribute in twist estimator launch (#192) Signed-off-by: wep21 --- .../launch/twist_estimator/twist_estimator.launch.xml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/launch/localization_launch/launch/twist_estimator/twist_estimator.launch.xml b/launch/localization_launch/launch/twist_estimator/twist_estimator.launch.xml index 4333c886145e..bc9af1ca0410 100644 --- a/launch/localization_launch/launch/twist_estimator/twist_estimator.launch.xml +++ b/launch/localization_launch/launch/twist_estimator/twist_estimator.launch.xml @@ -1,7 +1,7 @@ - - + + From f11e8c68c40463c848667e58ae16fa903cea1f49 Mon Sep 17 00:00:00 2001 From: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Date: Mon, 12 Apr 2021 16:42:46 +0900 Subject: [PATCH 17/36] Localization util preprocessor component (#188) Signed-off-by: wep21 --- .../launch/util/util.launch.py | 98 +++++++++++++++++++ .../launch/util/util.launch.xml | 38 ++----- 2 files changed, 105 insertions(+), 31 deletions(-) create mode 100644 launch/localization_launch/launch/util/util.launch.py diff --git a/launch/localization_launch/launch/util/util.launch.py b/launch/localization_launch/launch/util/util.launch.py new file mode 100644 index 000000000000..b245b580afc7 --- /dev/null +++ b/launch/localization_launch/launch/util/util.launch.py @@ -0,0 +1,98 @@ +# Copyright 2020 Tier IV, Inc. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import launch +from launch.actions import DeclareLaunchArgument, OpaqueFunction +from launch.conditions import IfCondition, UnlessCondition, LaunchConfigurationNotEquals +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import ComposableNodeContainer, LoadComposableNodes +from launch_ros.descriptions import ComposableNode +from launch.substitutions import EnvironmentVariable + + +def generate_launch_description(): + crop_box_component = ComposableNode( + package='pointcloud_preprocessor', + plugin='pointcloud_preprocessor::CropBoxFilterComponent', + name='crop_box_filter_measurement_range', + remappings=[ + ('input', LaunchConfiguration('input_sensor_points_topic')), + ('output', + 'mesurement_range/pointcloud'), + ], + parameters=[{ + 'input_frame': LaunchConfiguration('base_frame'), + 'output_frame': LaunchConfiguration('base_frame'), + 'min_x': -60.0, + 'max_x': 60.0, + 'min_y': -60.0, + 'max_y': 60.0, + 'min_z': -30.0, + 'max_z': 50.0, + 'negative': False, + 'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'), + }], + extra_arguments=[{ + 'use_intra_process_comms': LaunchConfiguration('use_intra_process') + }], + ) + voxel_grid_downsample_component = ComposableNode( + package='pointcloud_preprocessor', + plugin='pointcloud_preprocessor::VoxelGridDownsampleFilterComponent', + name='voxel_grid_downsample_filter', + remappings=[ + ('input', + 'mesurement_range/pointcloud'), + ('output', + LaunchConfiguration('output_voxel_grid_downsample_sensor_points_topic')), + ], + parameters=[{ + 'voxel_size_x': 3.0, + 'voxel_size_y': 3.0, + 'voxel_size_z': 3.0, + 'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'), + }], + extra_arguments=[{ + 'use_intra_process_comms': LaunchConfiguration('use_intra_process') + }], + ) + random_downsample_component = ComposableNode( + package='pointcloud_preprocessor', + plugin='pointcloud_preprocessor::VoxelGridDownsampleFilterComponent', + name='random_downsample_filter', + remappings=[ + ('input', + LaunchConfiguration('output_voxel_grid_downsample_sensor_points_topic')), + ('output', + LaunchConfiguration('output_downsample_sensor_points_topic')), + ], + parameters=[{ + 'sample_num': 1500, + 'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'), + }], + extra_arguments=[{ + 'use_intra_process_comms': LaunchConfiguration('use_intra_process') + }], + ) + + composable_nodes = [crop_box_component, + voxel_grid_downsample_component, + random_downsample_component] + + load_composable_nodes = LoadComposableNodes( + condition=LaunchConfigurationNotEquals('container', ''), + composable_node_descriptions=composable_nodes, + target_container=LaunchConfiguration('container'), + ) + return launch.LaunchDescription([load_composable_nodes]) diff --git a/launch/localization_launch/launch/util/util.launch.xml b/launch/localization_launch/launch/util/util.launch.xml index f52eaacef597..f9dda33dece9 100644 --- a/launch/localization_launch/launch/util/util.launch.xml +++ b/launch/localization_launch/launch/util/util.launch.xml @@ -10,41 +10,17 @@ + + + + + + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + From 56fc36cae0d0e4b0f9a1802d595a4238d96e97a1 Mon Sep 17 00:00:00 2001 From: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Date: Mon, 26 Apr 2021 15:27:58 +0900 Subject: [PATCH 18/36] Use set_parameter for use_sim_time (#198) * Use set_parameter for use_sim_time Signed-off-by: wep21 * Add default parameter for scenario simulator Signed-off-by: wep21 --- launch/localization_launch/launch/localization.launch.xml | 1 - launch/localization_launch/launch/util/util.launch.py | 3 --- 2 files changed, 4 deletions(-) diff --git a/launch/localization_launch/launch/localization.launch.xml b/launch/localization_launch/launch/localization.launch.xml index 2ecbbf8c55f8..116c00fe9ebe 100644 --- a/launch/localization_launch/launch/localization.launch.xml +++ b/launch/localization_launch/launch/localization.launch.xml @@ -33,7 +33,6 @@ - diff --git a/launch/localization_launch/launch/util/util.launch.py b/launch/localization_launch/launch/util/util.launch.py index b245b580afc7..732102e20a9f 100644 --- a/launch/localization_launch/launch/util/util.launch.py +++ b/launch/localization_launch/launch/util/util.launch.py @@ -41,7 +41,6 @@ def generate_launch_description(): 'min_z': -30.0, 'max_z': 50.0, 'negative': False, - 'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'), }], extra_arguments=[{ 'use_intra_process_comms': LaunchConfiguration('use_intra_process') @@ -61,7 +60,6 @@ def generate_launch_description(): 'voxel_size_x': 3.0, 'voxel_size_y': 3.0, 'voxel_size_z': 3.0, - 'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'), }], extra_arguments=[{ 'use_intra_process_comms': LaunchConfiguration('use_intra_process') @@ -79,7 +77,6 @@ def generate_launch_description(): ], parameters=[{ 'sample_num': 1500, - 'use_sim_time': EnvironmentVariable(name='AW_ROS2_USE_SIM_TIME', default_value='False'), }], extra_arguments=[{ 'use_intra_process_comms': LaunchConfiguration('use_intra_process') From f96c61922286fc2e1b1b8c0abeee9d447b0f8056 Mon Sep 17 00:00:00 2001 From: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Date: Thu, 20 May 2021 14:36:52 +0900 Subject: [PATCH 19/36] Fix depends in localization_launch to exec_depend (#223) Signed-off-by: Kenji Miyake --- launch/localization_launch/package.xml | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/launch/localization_launch/package.xml b/launch/localization_launch/package.xml index 3dc295d636e5..8ac75637ba35 100644 --- a/launch/localization_launch/package.xml +++ b/launch/localization_launch/package.xml @@ -11,12 +11,12 @@ ament_cmake_auto - ndt_scan_matcher - ekf_localizer - gyro_odometer - pose_initializer - pointcloud_preprocessor - topic_tools + ndt_scan_matcher + ekf_localizer + gyro_odometer + pose_initializer + pointcloud_preprocessor + topic_tools ament_lint_auto ament_lint_common From 350fbe986b06e9ba78d1abb0495414ab66bc46ba Mon Sep 17 00:00:00 2001 From: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Date: Mon, 24 May 2021 22:33:51 +0900 Subject: [PATCH 20/36] Fix typos in launch files (#231) * Fix typos in launch files Signed-off-by: Kenji Miyake * Fix lint Signed-off-by: wep21 Co-authored-by: wep21 --- launch/localization_launch/launch/util/util.launch.py | 10 ++++------ 1 file changed, 4 insertions(+), 6 deletions(-) diff --git a/launch/localization_launch/launch/util/util.launch.py b/launch/localization_launch/launch/util/util.launch.py index 732102e20a9f..7555d0c7143a 100644 --- a/launch/localization_launch/launch/util/util.launch.py +++ b/launch/localization_launch/launch/util/util.launch.py @@ -13,12 +13,10 @@ # limitations under the License. import launch -from launch.actions import DeclareLaunchArgument, OpaqueFunction -from launch.conditions import IfCondition, UnlessCondition, LaunchConfigurationNotEquals +from launch.conditions import LaunchConfigurationNotEquals from launch.substitutions import LaunchConfiguration -from launch_ros.actions import ComposableNodeContainer, LoadComposableNodes +from launch_ros.actions import LoadComposableNodes from launch_ros.descriptions import ComposableNode -from launch.substitutions import EnvironmentVariable def generate_launch_description(): @@ -29,7 +27,7 @@ def generate_launch_description(): remappings=[ ('input', LaunchConfiguration('input_sensor_points_topic')), ('output', - 'mesurement_range/pointcloud'), + 'measurement_range/pointcloud'), ], parameters=[{ 'input_frame': LaunchConfiguration('base_frame'), @@ -52,7 +50,7 @@ def generate_launch_description(): name='voxel_grid_downsample_filter', remappings=[ ('input', - 'mesurement_range/pointcloud'), + 'measurement_range/pointcloud'), ('output', LaunchConfiguration('output_voxel_grid_downsample_sensor_points_topic')), ], From e7a975e45cfaca85547dc629cecdbe7bc560954d Mon Sep 17 00:00:00 2001 From: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Date: Tue, 25 May 2021 01:24:11 +0900 Subject: [PATCH 21/36] Format launch files (#228) * Format launch files Signed-off-by: Kenji Miyake * Format launch.py Signed-off-by: Kenji Miyake * Fix lint Signed-off-by: Kenji Miyake --- launch/localization_launch/launch/util/util.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/launch/localization_launch/launch/util/util.launch.xml b/launch/localization_launch/launch/util/util.launch.xml index f9dda33dece9..f1727a7c1ae4 100644 --- a/launch/localization_launch/launch/util/util.launch.xml +++ b/launch/localization_launch/launch/util/util.launch.xml @@ -21,6 +21,6 @@ - + From 8a1d58aa699a47931ff765d7ece8379b6d950867 Mon Sep 17 00:00:00 2001 From: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Date: Fri, 2 Jul 2021 16:24:12 +0900 Subject: [PATCH 22/36] Enable intra process and mt (#204) Signed-off-by: wep21 --- launch/localization_launch/launch/util/util.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/launch/localization_launch/launch/util/util.launch.xml b/launch/localization_launch/launch/util/util.launch.xml index f1727a7c1ae4..3a7b67fb1da2 100644 --- a/launch/localization_launch/launch/util/util.launch.xml +++ b/launch/localization_launch/launch/util/util.launch.xml @@ -14,7 +14,7 @@ - + From ae9f16429ba3b75dd90ff000f0714cc10baf1ae8 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Mon, 19 Jul 2021 16:13:20 +0900 Subject: [PATCH 23/36] Load output_measurement_range_sensor_points_topic param (#271) Signed-off-by: kosuke55 --- launch/localization_launch/launch/util/util.launch.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/launch/localization_launch/launch/util/util.launch.py b/launch/localization_launch/launch/util/util.launch.py index 7555d0c7143a..bde66951be18 100644 --- a/launch/localization_launch/launch/util/util.launch.py +++ b/launch/localization_launch/launch/util/util.launch.py @@ -27,7 +27,7 @@ def generate_launch_description(): remappings=[ ('input', LaunchConfiguration('input_sensor_points_topic')), ('output', - 'measurement_range/pointcloud'), + LaunchConfiguration('output_measurement_range_sensor_points_topic')), ], parameters=[{ 'input_frame': LaunchConfiguration('base_frame'), @@ -50,7 +50,7 @@ def generate_launch_description(): name='voxel_grid_downsample_filter', remappings=[ ('input', - 'measurement_range/pointcloud'), + LaunchConfiguration('output_measurement_range_sensor_points_topic')), ('output', LaunchConfiguration('output_voxel_grid_downsample_sensor_points_topic')), ], From 6f655baeac93daeca642654b27a10b0388adb46c Mon Sep 17 00:00:00 2001 From: YamatoAndo Date: Mon, 26 Jul 2021 16:32:12 +0900 Subject: [PATCH 24/36] use_twist_with_covariance is false (#295) --- .../launch/twist_estimator/twist_estimator.launch.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/launch/localization_launch/launch/twist_estimator/twist_estimator.launch.xml b/launch/localization_launch/launch/twist_estimator/twist_estimator.launch.xml index bc9af1ca0410..7bd78ae5336c 100644 --- a/launch/localization_launch/launch/twist_estimator/twist_estimator.launch.xml +++ b/launch/localization_launch/launch/twist_estimator/twist_estimator.launch.xml @@ -1,6 +1,7 @@ + From 38fcc9541ce7f36c91217892ebc721423651b52c Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Thu, 12 Aug 2021 18:11:10 +0900 Subject: [PATCH 25/36] add description for localization_launch (#332) * add description * fix sentence --- .../launch/util/util.launch.xml | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/launch/localization_launch/launch/util/util.launch.xml b/launch/localization_launch/launch/util/util.launch.xml index 3a7b67fb1da2..8bed2b230486 100644 --- a/launch/localization_launch/launch/util/util.launch.xml +++ b/launch/localization_launch/launch/util/util.launch.xml @@ -2,19 +2,19 @@ - - - - + + + + - + - + - + From e844eae5cefe10b92763205f3c05796b29c944b8 Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Thu, 12 Aug 2021 21:13:22 +0900 Subject: [PATCH 26/36] add README.md and svg files (#328) * add md and svg * fix typo * fix typo * fix word * fix typo * add lack of things * Update README * fix depending packages * fix word --- launch/localization_launch/README.md | 26 + .../localization_launch.drawio.svg | 530 ++++++++++++++++++ 2 files changed, 556 insertions(+) create mode 100644 launch/localization_launch/README.md create mode 100644 launch/localization_launch/localization_launch.drawio.svg diff --git a/launch/localization_launch/README.md b/launch/localization_launch/README.md new file mode 100644 index 000000000000..959768012cf5 --- /dev/null +++ b/launch/localization_launch/README.md @@ -0,0 +1,26 @@ +# localization_launch + +## Structure + +![localization_launch](./localization_launch.drawio.svg) + +## Package Dependencies + +Please see `` in `package.xml`. + +## Usage + +You can include as follows in `*.launch.xml` to use `localization.launch.xml`. + +```xml + + +``` + +## Notes + +There are some `param.yaml` files in `config` directory. + +```bash +ndt_scan_matcher.param.yaml +``` diff --git a/launch/localization_launch/localization_launch.drawio.svg b/launch/localization_launch/localization_launch.drawio.svg new file mode 100644 index 000000000000..1bde302430e9 --- /dev/null +++ b/launch/localization_launch/localization_launch.drawio.svg @@ -0,0 +1,530 @@ + + + + + + + +
+
+
+ /sensing/lidar/top/pointcloud_preprocessor/velodyne_node_container +
+
+
+ + package: rclcpp_components + +
+
+
+
+ + + /sensing/lidar/top/pointcloud_preprocessor/velodyne_node_container... + + + + + + + +
+
+
+ localization.launch.xml +
+
+
+ + package: localization + + + _launch + +
+
+
+
+ + + localization.launch.xml... + + + + + + + + + + + +
+
+
+ util.launch.xml +
+
+
+ package: localization_launch +
+
+
+
+ + + util.launch.xml... + + + + + + + + + + + +
+
+
+ pose_estimator.launch.xml +
+
+
+ + package: localization_launch + +
+
+
+
+ + + pose_estimator.launch.xml... + + + + + + + +
+
+
+ launch name +
+
+
+ + package: package name + +
+
+
+
+ + + launch name... + + + + + + + +
+
+
+ ex: +
+
+
+ + + ex: + + + + + + + +
+
+
+ node name +
+
+
+ + package: package name + +
+
+
+
+ + + node name... + + + + + + + +
+
+
+ other name +
+
+
+ + package: package name + +
+
+
+
+ + + other name... + + + + + + + + + +
+
+
+ twist_estimator.launch.xml +
+
+
+ + package: localization_launch + +
+
+
+
+ + + twist_estimator.launch.xml... + + + + + + + + + +
+
+
+ pose_twist_fusion_filter.launch.xml +
+
+
+ + package: localization_launch + +
+
+
+
+ + + pose_twist_fusion_filter.launch.xml... + + + + + + + + + +
+
+
+ localization_error_monitor.launch.xml +
+
+
+ + package: localization_error_monitor + +
+
+
+
+ + + localization_error_monitor.launch.xml... + + + + + + + + + +
+
+
+ relay +
+
+
+ + package: topic_tools + +
+
+ +
+ +
+
+ + input: /localization/pose_twist_fusion_filter/twist + +
+
+ + output: /localization/twist + +
+
+
+
+ + + relay... + + + + + + + + + +
+
+
+ ndt_scan_matcher.launch.xml +
+
+
+ + package: ndt_scan_matcher + +
+
+
+
+ + + ndt_scan_matcher.launch.xml... + + + + + + + + + +
+
+
+ gyro_odometer.launch.xml +
+
+
+ + package: gyro_odometer + +
+
+
+
+ + + gyro_odometer.launch.xml... + + + + + + + + + +
+
+
+ ekf_localizer.launch.xml +
+
+
+ + package: ekf_localizer + +
+
+
+
+ + + ekf_localizer.launch.xml... + + + + + + + + + +
+
+
+ pose_initializer.launch.xml +
+
+
+ + package: pose_initializer + +
+
+
+
+ + + pose_initializer.launch.xml... + + + + + + + +
+
+
+ util.launch.py +
+
+
+ + package: localization_launch + +
+
+
+
+ + + util.launch.py... + + + + + + + + + +
+
+
+ crop_box_measurement_range +
+
+
+ + package: pointcloud_preprocessor + +
+
+
+
+ + + crop_box_measurement_range... + + + + + + + +
+
+
+ voxel_grid_downsample_filter +
+
+
+ + package: pointcloud_preprocessor + +
+
+
+
+ + + voxel_grid_downsample_filter... + + + + + + + +
+
+
+ random_downsample_filter +
+
+
+ + package: pointcloud_preprocessor + +
+
+
+
+ + + random_downsample_filter... + + + + + + + + + + + Viewer does not support full SVG 1.1 + + + + From a30c2ddf5bd5ac9b9bbd5e40f4f3802e28b9fea2 Mon Sep 17 00:00:00 2001 From: Kosuke Murakami Date: Wed, 18 Aug 2021 13:11:43 +0900 Subject: [PATCH 27/36] Feature/expand footprint launcher (#318) --- launch/localization_launch/launch/localization.launch.xml | 6 ------ .../pose_twist_fusion_filter.launch.xml | 4 ++-- 2 files changed, 2 insertions(+), 8 deletions(-) diff --git a/launch/localization_launch/launch/localization.launch.xml b/launch/localization_launch/launch/localization.launch.xml index 116c00fe9ebe..fe8e93c0c9be 100644 --- a/launch/localization_launch/launch/localization.launch.xml +++ b/launch/localization_launch/launch/localization.launch.xml @@ -31,11 +31,5 @@ - - - - - - diff --git a/launch/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml b/launch/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml index 6af8ed22ee88..07d5bb04dc30 100644 --- a/launch/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml +++ b/launch/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml @@ -12,10 +12,10 @@ - + - + From 57d63867696675c39a0a2e85d9fa74242f51ead1 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Tue, 31 Aug 2021 17:12:25 +0900 Subject: [PATCH 28/36] Add autoware api (#376) * Add external api adaptor (#267) * Add external api adaptor * Add api adaptor to logging simulator Signed-off-by: Takagi, Isamu * Add engage status output Signed-off-by: Takagi, Isamu * Add internal api adaptor (#273) Signed-off-by: Takagi, Isamu * Add map hash generator (#319) Signed-off-by: Takagi, Isamu * Add autoware api launch (#326) * Add autoware api launch Signed-off-by: Takagi, Isamu * Apply autoware api launch Signed-off-by: Takagi, Isamu * Add deprecated comment Signed-off-by: Takagi, Isamu * Remove unused parameter (#325) Signed-off-by: Takagi, Isamu * Add api parameter (#341) Signed-off-by: Takagi, Isamu * Add start request API (#321) * Add use start request option Signed-off-by: Takagi, Isamu * Fix lint Signed-off-by: Takagi, Isamu * Feature external cmd selector heartbeat (#356) * Rename external command topic Signed-off-by: Takagi, Isamu * Modify command topic name Signed-off-by: Takagi, Isamu * Fix topic name Signed-off-by: Takagi, Isamu * Rename remote_cmd_converter Signed-off-by: Takagi, Isamu * Remove gate mode from external command Signed-off-by: Takagi, Isamu * Fix latest external command name (#361) Signed-off-by: Takagi, Isamu * Fix merge conflict Signed-off-by: Takagi, Isamu * change external traffic light topic name in behavior velocity planner (#310) * fix topic * change internal topic name Co-authored-by: yabuta --- launch/localization_launch/launch/util/util.launch.xml | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/launch/localization_launch/launch/util/util.launch.xml b/launch/localization_launch/launch/util/util.launch.xml index 8bed2b230486..5ea9bfce95b0 100644 --- a/launch/localization_launch/launch/util/util.launch.xml +++ b/launch/localization_launch/launch/util/util.launch.xml @@ -17,10 +17,9 @@ - - - + + From a5b17c53bd42e7584ac45d9deaa97653476ca5b5 Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Fri, 3 Sep 2021 08:42:38 +0900 Subject: [PATCH 29/36] added stop filter launch in localization_launch (#270) --- .../pose_twist_fusion_filter.launch.xml | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/launch/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml b/launch/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml index 07d5bb04dc30..ba2ee548d86a 100644 --- a/launch/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml +++ b/launch/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml @@ -15,7 +15,7 @@ - + @@ -23,4 +23,11 @@ + + + + + + + From 5a8fe72513fdad6ae877099b436b529f181302f0 Mon Sep 17 00:00:00 2001 From: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Date: Wed, 15 Sep 2021 09:52:16 +0900 Subject: [PATCH 30/36] Fix pre-commit (#407) * Fix pre-commit errors Signed-off-by: Kenji Miyake * Fix package.xml Signed-off-by: Kenji Miyake --- launch/localization_launch/package.xml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/launch/localization_launch/package.xml b/launch/localization_launch/package.xml index 8ac75637ba35..bd01526b2074 100644 --- a/launch/localization_launch/package.xml +++ b/launch/localization_launch/package.xml @@ -11,11 +11,11 @@ ament_cmake_auto - ndt_scan_matcher ekf_localizer gyro_odometer - pose_initializer + ndt_scan_matcher pointcloud_preprocessor + pose_initializer topic_tools ament_lint_auto From 141fefb756cd5551696573e8a213587168017a0b Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Mon, 27 Sep 2021 16:06:58 +0900 Subject: [PATCH 31/36] modify util.launch in localization_launch #396 --- ...op_box_filter_measurement_range.param.yaml | 11 ++ .../random_downsample_filter.param.yaml | 3 + .../config/voxel_grid_filter.param.yaml | 5 + .../launch/util/util.launch.py | 106 ++++++++++++++---- .../launch/util/util.launch.xml | 3 - 5 files changed, 104 insertions(+), 24 deletions(-) create mode 100644 launch/localization_launch/config/crop_box_filter_measurement_range.param.yaml create mode 100644 launch/localization_launch/config/random_downsample_filter.param.yaml create mode 100644 launch/localization_launch/config/voxel_grid_filter.param.yaml diff --git a/launch/localization_launch/config/crop_box_filter_measurement_range.param.yaml b/launch/localization_launch/config/crop_box_filter_measurement_range.param.yaml new file mode 100644 index 000000000000..ad5542315410 --- /dev/null +++ b/launch/localization_launch/config/crop_box_filter_measurement_range.param.yaml @@ -0,0 +1,11 @@ +/**: + ros__parameters: + input_frame: "base_link" + output_frame: "base_link" + min_x: -60.0 + max_x: 60.0 + min_y: -60.0 + max_y: 60.0 + min_z: -30.0 + max_z: 50.0 + negative: False diff --git a/launch/localization_launch/config/random_downsample_filter.param.yaml b/launch/localization_launch/config/random_downsample_filter.param.yaml new file mode 100644 index 000000000000..53be849e0af2 --- /dev/null +++ b/launch/localization_launch/config/random_downsample_filter.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + sample_num: 1500 diff --git a/launch/localization_launch/config/voxel_grid_filter.param.yaml b/launch/localization_launch/config/voxel_grid_filter.param.yaml new file mode 100644 index 000000000000..51a7ee9d89b6 --- /dev/null +++ b/launch/localization_launch/config/voxel_grid_filter.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + voxel_size_x: 3.0 + voxel_size_y: 3.0 + voxel_size_z: 3.0 diff --git a/launch/localization_launch/launch/util/util.launch.py b/launch/localization_launch/launch/util/util.launch.py index bde66951be18..055eca0450c1 100644 --- a/launch/localization_launch/launch/util/util.launch.py +++ b/launch/localization_launch/launch/util/util.launch.py @@ -13,13 +13,22 @@ # limitations under the License. import launch +from launch.actions import DeclareLaunchArgument +from launch.actions import OpaqueFunction from launch.conditions import LaunchConfigurationNotEquals from launch.substitutions import LaunchConfiguration from launch_ros.actions import LoadComposableNodes from launch_ros.descriptions import ComposableNode +from launch_ros.substitutions import FindPackageShare +import yaml -def generate_launch_description(): +def launch_setup(context, *args, **kwargs): + # https://github.com/ros2/launch_ros/issues/156 + def load_composable_node_param(param_path): + with open(LaunchConfiguration(param_path).perform(context), 'r') as f: + return yaml.safe_load(f)['/**']['ros__parameters'] + crop_box_component = ComposableNode( package='pointcloud_preprocessor', plugin='pointcloud_preprocessor::CropBoxFilterComponent', @@ -29,17 +38,9 @@ def generate_launch_description(): ('output', LaunchConfiguration('output_measurement_range_sensor_points_topic')), ], - parameters=[{ - 'input_frame': LaunchConfiguration('base_frame'), - 'output_frame': LaunchConfiguration('base_frame'), - 'min_x': -60.0, - 'max_x': 60.0, - 'min_y': -60.0, - 'max_y': 60.0, - 'min_z': -30.0, - 'max_z': 50.0, - 'negative': False, - }], + parameters=[ + load_composable_node_param('crop_box_filter_measurement_range_param_path'), + ], extra_arguments=[{ 'use_intra_process_comms': LaunchConfiguration('use_intra_process') }], @@ -54,11 +55,7 @@ def generate_launch_description(): ('output', LaunchConfiguration('output_voxel_grid_downsample_sensor_points_topic')), ], - parameters=[{ - 'voxel_size_x': 3.0, - 'voxel_size_y': 3.0, - 'voxel_size_z': 3.0, - }], + parameters=[load_composable_node_param('voxel_grid_downsample_filter_param_path')], extra_arguments=[{ 'use_intra_process_comms': LaunchConfiguration('use_intra_process') }], @@ -73,9 +70,9 @@ def generate_launch_description(): ('output', LaunchConfiguration('output_downsample_sensor_points_topic')), ], - parameters=[{ - 'sample_num': 1500, - }], + parameters=[ + load_composable_node_param('random_downsample_filter_param_path') + ], extra_arguments=[{ 'use_intra_process_comms': LaunchConfiguration('use_intra_process') }], @@ -90,4 +87,71 @@ def generate_launch_description(): composable_node_descriptions=composable_nodes, target_container=LaunchConfiguration('container'), ) - return launch.LaunchDescription([load_composable_nodes]) + + return [load_composable_nodes] + + +def generate_launch_description(): + launch_arguments = [] + + def add_launch_arg(name: str, default_value=None, description=None): + arg = DeclareLaunchArgument(name, default_value=default_value, description=description) + launch_arguments.append(arg) + + add_launch_arg( + 'crop_box_filter_measurement_range_param_path', + [ + FindPackageShare('localization_launch'), + '/config/crop_box_filter_measurement_range.param.yaml' + ], + 'path to the parameter file of crop_box_filter_measurement_range' + ) + add_launch_arg( + 'voxel_grid_downsample_filter_param_path', + [ + FindPackageShare('localization_launch'), + '/config/voxel_grid_filter.param.yaml' + ], + 'path to the parameter file of voxel_grid_downsample_filter' + ) + add_launch_arg( + 'random_downsample_filter_param_path', + [ + FindPackageShare('localization_launch'), + '/config/random_downsample_filter.param.yaml' + ], + 'path to the parameter file of random_downsample_filter' + ) + add_launch_arg('use_intra_process', 'true', 'use ROS2 component container communication') + add_launch_arg( + 'container', + '/sensing/lidar/top/pointcloud_preprocessor/velodyne_node_container', + 'container name' + ) + add_launch_arg( + 'input_sensor_points_topic', + '/sensing/lidar/top/rectified/pointcloud', + 'input topic name for raw pointcloud' + ) + add_launch_arg( + 'output_measurement_range_sensor_points_topic', + 'measurement_range/pointcloud', + 'output topic name for crop box filter' + ) + add_launch_arg( + 'output_voxel_grid_downsample_sensor_points_topic', + 'voxel_grid_downsample/pointcloud', + 'output topic name for voxel grid downsample filter' + ) + add_launch_arg( + 'output_downsample_sensor_points_topic', + 'downsample/pointcloud', + 'output topic name for downsample filter. this is final output' + ) + + return launch.LaunchDescription( + launch_arguments + + [ + OpaqueFunction(function=launch_setup) + ] + ) diff --git a/launch/localization_launch/launch/util/util.launch.xml b/launch/localization_launch/launch/util/util.launch.xml index 5ea9bfce95b0..6d2cc29549aa 100644 --- a/launch/localization_launch/launch/util/util.launch.xml +++ b/launch/localization_launch/launch/util/util.launch.xml @@ -7,9 +7,6 @@ - - - From 99bb524e436108271763478a0d31b3fd12dab432 Mon Sep 17 00:00:00 2001 From: YamatoAndo Date: Thu, 30 Sep 2021 14:43:50 +0900 Subject: [PATCH 32/36] add localization error monitor param (#431) --- .../launch/localization.launch.xml | 3 +-- .../localization_error_monitor.launch.xml | 11 +++++++++++ 2 files changed, 12 insertions(+), 2 deletions(-) create mode 100644 launch/localization_launch/launch/localization_error_monitor/localization_error_monitor.launch.xml diff --git a/launch/localization_launch/launch/localization.launch.xml b/launch/localization_launch/launch/localization.launch.xml index fe8e93c0c9be..3deae2b0e49c 100644 --- a/launch/localization_launch/launch/localization.launch.xml +++ b/launch/localization_launch/launch/localization.launch.xml @@ -28,8 +28,7 @@ - - + diff --git a/launch/localization_launch/launch/localization_error_monitor/localization_error_monitor.launch.xml b/launch/localization_launch/launch/localization_error_monitor/localization_error_monitor.launch.xml new file mode 100644 index 000000000000..d2ea9ced7b27 --- /dev/null +++ b/launch/localization_launch/launch/localization_error_monitor/localization_error_monitor.launch.xml @@ -0,0 +1,11 @@ + + + + + + + + + + + From 4915c74fcb09aa1b4c12e7cac12fe7045dea5de1 Mon Sep 17 00:00:00 2001 From: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Date: Wed, 27 Oct 2021 18:27:10 +0900 Subject: [PATCH 33/36] add environment_name parameter into localization launch (#175) (#293) * add environment_name parameter into localization launch (#175) * add environment_name parameter into localization launch change launcher parameters of crop_box_filter_mesurement_range and voxel_grid_filter to yaml file Signed-off-by: Azumi Suzuki * change param file directory name Signed-off-by: Azumi Suzuki * Remove redundant comments Signed-off-by: wep21 Co-authored-by: s-azumi <38061530+s-azumi@users.noreply.github.com> --- .../default/crop_box_filter_measurement_range.param.yaml | 9 +++++++++ .../config/{ => default}/ndt_scan_matcher.param.yaml | 0 .../config/default/voxel_grid_filter.param.yaml | 5 +++++ .../launch/pose_estimator/pose_estimator.launch.xml | 4 +++- launch/localization_launch/launch/util/util.launch.xml | 1 + 5 files changed, 18 insertions(+), 1 deletion(-) create mode 100644 launch/localization_launch/config/default/crop_box_filter_measurement_range.param.yaml rename launch/localization_launch/config/{ => default}/ndt_scan_matcher.param.yaml (100%) create mode 100644 launch/localization_launch/config/default/voxel_grid_filter.param.yaml diff --git a/launch/localization_launch/config/default/crop_box_filter_measurement_range.param.yaml b/launch/localization_launch/config/default/crop_box_filter_measurement_range.param.yaml new file mode 100644 index 000000000000..03d969ba5184 --- /dev/null +++ b/launch/localization_launch/config/default/crop_box_filter_measurement_range.param.yaml @@ -0,0 +1,9 @@ +/**: + ros__parameters: + min_x: -60.0 + max_x: 60.0 + min_y: -60.0 + max_y: 60.0 + min_z: -30.0 + max_z: 50.0 + negative: False diff --git a/launch/localization_launch/config/ndt_scan_matcher.param.yaml b/launch/localization_launch/config/default/ndt_scan_matcher.param.yaml similarity index 100% rename from launch/localization_launch/config/ndt_scan_matcher.param.yaml rename to launch/localization_launch/config/default/ndt_scan_matcher.param.yaml diff --git a/launch/localization_launch/config/default/voxel_grid_filter.param.yaml b/launch/localization_launch/config/default/voxel_grid_filter.param.yaml new file mode 100644 index 000000000000..51a7ee9d89b6 --- /dev/null +++ b/launch/localization_launch/config/default/voxel_grid_filter.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + voxel_size_x: 3.0 + voxel_size_y: 3.0 + voxel_size_z: 3.0 diff --git a/launch/localization_launch/launch/pose_estimator/pose_estimator.launch.xml b/launch/localization_launch/launch/pose_estimator/pose_estimator.launch.xml index ce949fd34bd8..6eb082bbe438 100644 --- a/launch/localization_launch/launch/pose_estimator/pose_estimator.launch.xml +++ b/launch/localization_launch/launch/pose_estimator/pose_estimator.launch.xml @@ -1,5 +1,7 @@ + + @@ -10,7 +12,7 @@ - + diff --git a/launch/localization_launch/launch/util/util.launch.xml b/launch/localization_launch/launch/util/util.launch.xml index 6d2cc29549aa..79ae340ed126 100644 --- a/launch/localization_launch/launch/util/util.launch.xml +++ b/launch/localization_launch/launch/util/util.launch.xml @@ -1,5 +1,6 @@ + From 8640272b572bae8e8dd7fc8e34a94dc13088c604 Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Wed, 29 Sep 2021 13:10:02 +0900 Subject: [PATCH 34/36] delete environment name (#428) --- .../default/crop_box_filter_measurement_range.param.yaml | 9 --------- .../config/default/voxel_grid_filter.param.yaml | 5 ----- .../config/{default => }/ndt_scan_matcher.param.yaml | 0 .../launch/pose_estimator/pose_estimator.launch.xml | 3 +-- launch/localization_launch/launch/util/util.launch.xml | 1 - 5 files changed, 1 insertion(+), 17 deletions(-) delete mode 100644 launch/localization_launch/config/default/crop_box_filter_measurement_range.param.yaml delete mode 100644 launch/localization_launch/config/default/voxel_grid_filter.param.yaml rename launch/localization_launch/config/{default => }/ndt_scan_matcher.param.yaml (100%) diff --git a/launch/localization_launch/config/default/crop_box_filter_measurement_range.param.yaml b/launch/localization_launch/config/default/crop_box_filter_measurement_range.param.yaml deleted file mode 100644 index 03d969ba5184..000000000000 --- a/launch/localization_launch/config/default/crop_box_filter_measurement_range.param.yaml +++ /dev/null @@ -1,9 +0,0 @@ -/**: - ros__parameters: - min_x: -60.0 - max_x: 60.0 - min_y: -60.0 - max_y: 60.0 - min_z: -30.0 - max_z: 50.0 - negative: False diff --git a/launch/localization_launch/config/default/voxel_grid_filter.param.yaml b/launch/localization_launch/config/default/voxel_grid_filter.param.yaml deleted file mode 100644 index 51a7ee9d89b6..000000000000 --- a/launch/localization_launch/config/default/voxel_grid_filter.param.yaml +++ /dev/null @@ -1,5 +0,0 @@ -/**: - ros__parameters: - voxel_size_x: 3.0 - voxel_size_y: 3.0 - voxel_size_z: 3.0 diff --git a/launch/localization_launch/config/default/ndt_scan_matcher.param.yaml b/launch/localization_launch/config/ndt_scan_matcher.param.yaml similarity index 100% rename from launch/localization_launch/config/default/ndt_scan_matcher.param.yaml rename to launch/localization_launch/config/ndt_scan_matcher.param.yaml diff --git a/launch/localization_launch/launch/pose_estimator/pose_estimator.launch.xml b/launch/localization_launch/launch/pose_estimator/pose_estimator.launch.xml index 6eb082bbe438..c3f35464e4b2 100644 --- a/launch/localization_launch/launch/pose_estimator/pose_estimator.launch.xml +++ b/launch/localization_launch/launch/pose_estimator/pose_estimator.launch.xml @@ -1,6 +1,5 @@ - @@ -12,7 +11,7 @@ - + diff --git a/launch/localization_launch/launch/util/util.launch.xml b/launch/localization_launch/launch/util/util.launch.xml index 79ae340ed126..6d2cc29549aa 100644 --- a/launch/localization_launch/launch/util/util.launch.xml +++ b/launch/localization_launch/launch/util/util.launch.xml @@ -1,6 +1,5 @@ - From 33a7abda1f9a2e11debe3fe92c812fe0f533875f Mon Sep 17 00:00:00 2001 From: Kenji Miyake Date: Tue, 2 Nov 2021 19:37:45 +0900 Subject: [PATCH 35/36] Change formatter to black (#488) * Update pre-commit settings * Apply Black * Replace ament_lint_common with autoware_lint_common * Update build_depends.repos * Fix build_depends --- .../launch/util/util.launch.py | 136 ++++++++---------- launch/localization_launch/package.xml | 2 +- 2 files changed, 58 insertions(+), 80 deletions(-) diff --git a/launch/localization_launch/launch/util/util.launch.py b/launch/localization_launch/launch/util/util.launch.py index 055eca0450c1..b6f66fa19e8f 100644 --- a/launch/localization_launch/launch/util/util.launch.py +++ b/launch/localization_launch/launch/util/util.launch.py @@ -26,66 +26,55 @@ def launch_setup(context, *args, **kwargs): # https://github.com/ros2/launch_ros/issues/156 def load_composable_node_param(param_path): - with open(LaunchConfiguration(param_path).perform(context), 'r') as f: - return yaml.safe_load(f)['/**']['ros__parameters'] + with open(LaunchConfiguration(param_path).perform(context), "r") as f: + return yaml.safe_load(f)["/**"]["ros__parameters"] crop_box_component = ComposableNode( - package='pointcloud_preprocessor', - plugin='pointcloud_preprocessor::CropBoxFilterComponent', - name='crop_box_filter_measurement_range', + package="pointcloud_preprocessor", + plugin="pointcloud_preprocessor::CropBoxFilterComponent", + name="crop_box_filter_measurement_range", remappings=[ - ('input', LaunchConfiguration('input_sensor_points_topic')), - ('output', - LaunchConfiguration('output_measurement_range_sensor_points_topic')), + ("input", LaunchConfiguration("input_sensor_points_topic")), + ("output", LaunchConfiguration("output_measurement_range_sensor_points_topic")), ], parameters=[ - load_composable_node_param('crop_box_filter_measurement_range_param_path'), + load_composable_node_param("crop_box_filter_measurement_range_param_path"), ], - extra_arguments=[{ - 'use_intra_process_comms': LaunchConfiguration('use_intra_process') - }], + extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], ) voxel_grid_downsample_component = ComposableNode( - package='pointcloud_preprocessor', - plugin='pointcloud_preprocessor::VoxelGridDownsampleFilterComponent', - name='voxel_grid_downsample_filter', + package="pointcloud_preprocessor", + plugin="pointcloud_preprocessor::VoxelGridDownsampleFilterComponent", + name="voxel_grid_downsample_filter", remappings=[ - ('input', - LaunchConfiguration('output_measurement_range_sensor_points_topic')), - ('output', - LaunchConfiguration('output_voxel_grid_downsample_sensor_points_topic')), + ("input", LaunchConfiguration("output_measurement_range_sensor_points_topic")), + ("output", LaunchConfiguration("output_voxel_grid_downsample_sensor_points_topic")), ], - parameters=[load_composable_node_param('voxel_grid_downsample_filter_param_path')], - extra_arguments=[{ - 'use_intra_process_comms': LaunchConfiguration('use_intra_process') - }], + parameters=[load_composable_node_param("voxel_grid_downsample_filter_param_path")], + extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], ) random_downsample_component = ComposableNode( - package='pointcloud_preprocessor', - plugin='pointcloud_preprocessor::VoxelGridDownsampleFilterComponent', - name='random_downsample_filter', + package="pointcloud_preprocessor", + plugin="pointcloud_preprocessor::VoxelGridDownsampleFilterComponent", + name="random_downsample_filter", remappings=[ - ('input', - LaunchConfiguration('output_voxel_grid_downsample_sensor_points_topic')), - ('output', - LaunchConfiguration('output_downsample_sensor_points_topic')), + ("input", LaunchConfiguration("output_voxel_grid_downsample_sensor_points_topic")), + ("output", LaunchConfiguration("output_downsample_sensor_points_topic")), ], - parameters=[ - load_composable_node_param('random_downsample_filter_param_path') - ], - extra_arguments=[{ - 'use_intra_process_comms': LaunchConfiguration('use_intra_process') - }], + parameters=[load_composable_node_param("random_downsample_filter_param_path")], + extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], ) - composable_nodes = [crop_box_component, - voxel_grid_downsample_component, - random_downsample_component] + composable_nodes = [ + crop_box_component, + voxel_grid_downsample_component, + random_downsample_component, + ] load_composable_nodes = LoadComposableNodes( - condition=LaunchConfigurationNotEquals('container', ''), + condition=LaunchConfigurationNotEquals("container", ""), composable_node_descriptions=composable_nodes, - target_container=LaunchConfiguration('container'), + target_container=LaunchConfiguration("container"), ) return [load_composable_nodes] @@ -99,59 +88,48 @@ def add_launch_arg(name: str, default_value=None, description=None): launch_arguments.append(arg) add_launch_arg( - 'crop_box_filter_measurement_range_param_path', + "crop_box_filter_measurement_range_param_path", [ - FindPackageShare('localization_launch'), - '/config/crop_box_filter_measurement_range.param.yaml' + FindPackageShare("localization_launch"), + "/config/crop_box_filter_measurement_range.param.yaml", ], - 'path to the parameter file of crop_box_filter_measurement_range' + "path to the parameter file of crop_box_filter_measurement_range", ) add_launch_arg( - 'voxel_grid_downsample_filter_param_path', - [ - FindPackageShare('localization_launch'), - '/config/voxel_grid_filter.param.yaml' - ], - 'path to the parameter file of voxel_grid_downsample_filter' + "voxel_grid_downsample_filter_param_path", + [FindPackageShare("localization_launch"), "/config/voxel_grid_filter.param.yaml"], + "path to the parameter file of voxel_grid_downsample_filter", ) add_launch_arg( - 'random_downsample_filter_param_path', - [ - FindPackageShare('localization_launch'), - '/config/random_downsample_filter.param.yaml' - ], - 'path to the parameter file of random_downsample_filter' + "random_downsample_filter_param_path", + [FindPackageShare("localization_launch"), "/config/random_downsample_filter.param.yaml"], + "path to the parameter file of random_downsample_filter", ) - add_launch_arg('use_intra_process', 'true', 'use ROS2 component container communication') + add_launch_arg("use_intra_process", "true", "use ROS2 component container communication") add_launch_arg( - 'container', - '/sensing/lidar/top/pointcloud_preprocessor/velodyne_node_container', - 'container name' + "container", + "/sensing/lidar/top/pointcloud_preprocessor/velodyne_node_container", + "container name", ) add_launch_arg( - 'input_sensor_points_topic', - '/sensing/lidar/top/rectified/pointcloud', - 'input topic name for raw pointcloud' + "input_sensor_points_topic", + "/sensing/lidar/top/rectified/pointcloud", + "input topic name for raw pointcloud", ) add_launch_arg( - 'output_measurement_range_sensor_points_topic', - 'measurement_range/pointcloud', - 'output topic name for crop box filter' + "output_measurement_range_sensor_points_topic", + "measurement_range/pointcloud", + "output topic name for crop box filter", ) add_launch_arg( - 'output_voxel_grid_downsample_sensor_points_topic', - 'voxel_grid_downsample/pointcloud', - 'output topic name for voxel grid downsample filter' + "output_voxel_grid_downsample_sensor_points_topic", + "voxel_grid_downsample/pointcloud", + "output topic name for voxel grid downsample filter", ) add_launch_arg( - 'output_downsample_sensor_points_topic', - 'downsample/pointcloud', - 'output topic name for downsample filter. this is final output' + "output_downsample_sensor_points_topic", + "downsample/pointcloud", + "output topic name for downsample filter. this is final output", ) - return launch.LaunchDescription( - launch_arguments + - [ - OpaqueFunction(function=launch_setup) - ] - ) + return launch.LaunchDescription(launch_arguments + [OpaqueFunction(function=launch_setup)]) diff --git a/launch/localization_launch/package.xml b/launch/localization_launch/package.xml index bd01526b2074..a6dbe359ceb4 100644 --- a/launch/localization_launch/package.xml +++ b/launch/localization_launch/package.xml @@ -19,7 +19,7 @@ topic_tools ament_lint_auto - ament_lint_common + autoware_lint_common ament_cmake From 3b45373627737a9af867a16aa39e302ccd6cdeb1 Mon Sep 17 00:00:00 2001 From: RyuYamamoto Date: Wed, 24 Nov 2021 17:48:53 +0900 Subject: [PATCH 36/36] porting localization (#121) * porting localization * fixed odometry in ekf * fixed vehicle twist topic name --- .../pose_twist_fusion_filter.launch.xml | 11 ++++------- .../launch/twist_estimator/twist_estimator.launch.xml | 7 +++++-- 2 files changed, 9 insertions(+), 9 deletions(-) diff --git a/launch/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml b/launch/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml index ba2ee548d86a..be07542d16ab 100644 --- a/launch/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml +++ b/launch/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml @@ -2,15 +2,13 @@ - - - + - + @@ -25,9 +23,8 @@ - + - - + diff --git a/launch/localization_launch/launch/twist_estimator/twist_estimator.launch.xml b/launch/localization_launch/launch/twist_estimator/twist_estimator.launch.xml index 7bd78ae5336c..76d0a73dbcf0 100644 --- a/launch/localization_launch/launch/twist_estimator/twist_estimator.launch.xml +++ b/launch/localization_launch/launch/twist_estimator/twist_estimator.launch.xml @@ -1,8 +1,11 @@ + + + + - - +