feat: migrating pointcloud types #6996
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Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>
Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>
Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>
Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>
knzo25
requested review from
amc-nu,
badai-nguyen,
kyoichi-sugahara,
miursh,
vividf,
yukkysaito,
ambroise-arm and
angry-crab
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component:perception
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@tzhong518 |
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@knzo25 There is a conflict in perception/ground_segmentation/src/scan_ground_filter_nodelet.cpp, could you fixed it? |
Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>
…universe into feat/sensing_point_type
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…e out of scope before Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>
…universe into feat/sensing_point_type
Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> Conflicts: perception/ground_segmentation/src/scan_ground_filter_nodelet.cpp sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_nodelet.hpp sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp
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@badai-nguyen |
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Description
This PR migrates the point types in autoware as per the discussions in the S/P WG.
*Note1: the nebula driver is already compatible with this new format with
velodyne_pointsandpandar_points*Note2: only the the nodes needed in sensing and perception were tested. The components in the sensing directory that are actually used in localization were not tested
Related links
WG minutes:
https://github.com/orgs/autowarefoundation/discussions/3533
Other more recent internal discussions:
TIER IV INTERNAL LINK
TIER IV INTERNAL LINK
Tests performed
Notes for reviewers
Interface changes
ROS Topic Changes
ROS Parameter Changes
Effects on system behavior
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