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feat: unify tf frame parameters between transform and cloud nodes #453

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Dec 4, 2022
Merged

feat: unify tf frame parameters between transform and cloud nodes #453

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8 changes: 4 additions & 4 deletions velodyne/launch/velodyne-all-nodes-VLP16-composed-launch.py
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Expand Up @@ -47,9 +47,9 @@ def generate_launch_description():
driver_params = yaml.safe_load(f)['velodyne_driver_node']['ros__parameters']

convert_share_dir = ament_index_python.packages.get_package_share_directory('velodyne_pointcloud')
convert_params_file = os.path.join(convert_share_dir, 'config', 'VLP16-velodyne_convert_node-params.yaml')
convert_params_file = os.path.join(convert_share_dir, 'config', 'VLP16-velodyne_transform_node-params.yaml')
with open(convert_params_file, 'r') as f:
convert_params = yaml.safe_load(f)['velodyne_convert_node']['ros__parameters']
convert_params = yaml.safe_load(f)['velodyne_transform_node']['ros__parameters']
convert_params['calibration'] = os.path.join(convert_share_dir, 'params', 'VLP16db.yaml')

laserscan_share_dir = ament_index_python.packages.get_package_share_directory('velodyne_laserscan')
Expand All @@ -70,8 +70,8 @@ def generate_launch_description():
parameters=[driver_params]),
ComposableNode(
package='velodyne_pointcloud',
plugin='velodyne_pointcloud::Convert',
name='velodyne_convert_node',
plugin='velodyne_pointcloud::Transform',
name='velodyne_transform_node',
parameters=[convert_params]),
ComposableNode(
package='velodyne_laserscan',
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14 changes: 7 additions & 7 deletions velodyne/launch/velodyne-all-nodes-VLP16-launch.py
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Expand Up @@ -48,14 +48,14 @@ def generate_launch_description():
parameters=[driver_params_file])

convert_share_dir = ament_index_python.packages.get_package_share_directory('velodyne_pointcloud')
convert_params_file = os.path.join(convert_share_dir, 'config', 'VLP16-velodyne_convert_node-params.yaml')
convert_params_file = os.path.join(convert_share_dir, 'config', 'VLP16-velodyne_transform_node-params.yaml')
with open(convert_params_file, 'r') as f:
convert_params = yaml.safe_load(f)['velodyne_convert_node']['ros__parameters']
convert_params = yaml.safe_load(f)['velodyne_transform_node']['ros__parameters']
convert_params['calibration'] = os.path.join(convert_share_dir, 'params', 'VLP16db.yaml')
velodyne_convert_node = launch_ros.actions.Node(package='velodyne_pointcloud',
executable='velodyne_convert_node',
output='both',
parameters=[convert_params])
velodyne_transform_node = launch_ros.actions.Node(package='velodyne_pointcloud',
executable='velodyne_transform_node',
output='both',
parameters=[convert_params])

laserscan_share_dir = ament_index_python.packages.get_package_share_directory('velodyne_laserscan')
laserscan_params_file = os.path.join(laserscan_share_dir, 'config', 'default-velodyne_laserscan_node-params.yaml')
Expand All @@ -66,7 +66,7 @@ def generate_launch_description():


return launch.LaunchDescription([velodyne_driver_node,
velodyne_convert_node,
velodyne_transform_node,
velodyne_laserscan_node,

launch.actions.RegisterEventHandler(
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8 changes: 4 additions & 4 deletions velodyne/launch/velodyne-all-nodes-VLP32C-composed-launch.py
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Expand Up @@ -47,9 +47,9 @@ def generate_launch_description():
driver_params = yaml.safe_load(f)['velodyne_driver_node']['ros__parameters']

convert_share_dir = ament_index_python.packages.get_package_share_directory('velodyne_pointcloud')
convert_params_file = os.path.join(convert_share_dir, 'config', 'VLP32C-velodyne_convert_node-params.yaml')
convert_params_file = os.path.join(convert_share_dir, 'config', 'VLP32C-velodyne_transform_node-params.yaml')
with open(convert_params_file, 'r') as f:
convert_params = yaml.safe_load(f)['velodyne_convert_node']['ros__parameters']
convert_params = yaml.safe_load(f)['velodyne_transform_node']['ros__parameters']
convert_params['calibration'] = os.path.join(convert_share_dir, 'params', 'VeloView-VLP-32C.yaml')

laserscan_share_dir = ament_index_python.packages.get_package_share_directory('velodyne_laserscan')
Expand All @@ -70,8 +70,8 @@ def generate_launch_description():
parameters=[driver_params]),
ComposableNode(
package='velodyne_pointcloud',
plugin='velodyne_pointcloud::Convert',
name='velodyne_convert_node',
plugin='velodyne_pointcloud::Transform',
name='velodyne_transform_node',
parameters=[convert_params]),
ComposableNode(
package='velodyne_laserscan',
Expand Down
14 changes: 7 additions & 7 deletions velodyne/launch/velodyne-all-nodes-VLP32C-launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -48,14 +48,14 @@ def generate_launch_description():
parameters=[driver_params_file])

convert_share_dir = ament_index_python.packages.get_package_share_directory('velodyne_pointcloud')
convert_params_file = os.path.join(convert_share_dir, 'config', 'VLP32C-velodyne_convert_node-params.yaml')
convert_params_file = os.path.join(convert_share_dir, 'config', 'VLP32C-velodyne_transform_node-params.yaml')
with open(convert_params_file, 'r') as f:
convert_params = yaml.safe_load(f)['velodyne_convert_node']['ros__parameters']
convert_params = yaml.safe_load(f)['velodyne_transform_node']['ros__parameters']
convert_params['calibration'] = os.path.join(convert_share_dir, 'params', 'VeloView-VLP-32C.yaml')
velodyne_convert_node = launch_ros.actions.Node(package='velodyne_pointcloud',
executable='velodyne_convert_node',
output='both',
parameters=[convert_params])
velodyne_transform_node = launch_ros.actions.Node(package='velodyne_pointcloud',
executable='velodyne_transform_node',
output='both',
parameters=[convert_params])

laserscan_share_dir = ament_index_python.packages.get_package_share_directory('velodyne_laserscan')
laserscan_params_file = os.path.join(laserscan_share_dir, 'config', 'default-velodyne_laserscan_node-params.yaml')
Expand All @@ -66,7 +66,7 @@ def generate_launch_description():


return launch.LaunchDescription([velodyne_driver_node,
velodyne_convert_node,
velodyne_transform_node,
velodyne_laserscan_node,

launch.actions.RegisterEventHandler(
Expand Down
2 changes: 1 addition & 1 deletion velodyne_driver/tests/pcap_32e_nodelet_hertz.test
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Expand Up @@ -3,7 +3,7 @@

<launch>

<!-- start nodelet manager, driver and pointcloud nodelets -->
<!-- start nodelet manager, driver and transform nodelets -->
<include file="$(find velodyne_driver)/launch/nodelet_manager.launch">
<arg name="model" value="32E"/>
<arg name="pcap" value="$(find velodyne_driver)/tests/32e.pcap"/>
Expand Down
2 changes: 1 addition & 1 deletion velodyne_driver/tests/pcap_nodelet_hertz.test
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Expand Up @@ -3,7 +3,7 @@

<launch>

<!-- start nodelet manager, driver and pointcloud nodelets -->
<!-- start nodelet manager, driver and transform nodelets -->
<include file="$(find velodyne_driver)/launch/nodelet_manager.launch">
<arg name="pcap" value="$(find velodyne_driver)/tests/class.pcap"/>
</include>
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2 changes: 1 addition & 1 deletion velodyne_driver/tests/pcap_vlp16_nodelet_hertz.test
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Expand Up @@ -3,7 +3,7 @@

<launch>

<!-- start nodelet manager, driver and pointcloud nodelets -->
<!-- start nodelet manager, driver and transform nodelets -->
<include file="$(find velodyne_driver)/launch/nodelet_manager.launch">
<arg name="model" value="VLP16"/>
<arg name="pcap" value="$(find velodyne_driver)/tests/vlp16.pcap"/>
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32 changes: 0 additions & 32 deletions velodyne_pointcloud/CMakeLists.txt
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Expand Up @@ -45,38 +45,6 @@ include_directories(include ${PCL_COMMON_INCLUDE_DIRS})

add_subdirectory(src/lib)

add_library(convert SHARED
src/conversions/convert.cpp)
ament_target_dependencies(convert
diagnostic_updater
Eigen3
rclcpp
rclcpp_components
tf2
velodyne_msgs
)
target_link_libraries(convert
velodyne_cloud_types
velodyne_rawdata
${YAML_CPP_LIBRARIES})
install(TARGETS convert
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
rclcpp_components_register_nodes(convert
"velodyne_pointcloud::Convert")

add_executable(velodyne_convert_node
src/conversions/convert_node.cpp)
ament_target_dependencies(velodyne_convert_node
rclcpp
)
target_link_libraries(velodyne_convert_node convert)
install(TARGETS velodyne_convert_node
DESTINATION lib/${PROJECT_NAME}
)

add_library(transform SHARED
src/conversions/transform.cpp)
ament_target_dependencies(transform
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10 changes: 0 additions & 10 deletions velodyne_pointcloud/config/VLP16-velodyne_convert_node-params.yaml
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This file was deleted.

2 changes: 2 additions & 0 deletions velodyne_pointcloud/config/VLP16-velodyne_transform_node-params.yaml
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Expand Up @@ -5,4 +5,6 @@ velodyne_transform_node:
min_range: 0.9
max_range: 130.0
view_direction: 0.0
fixed_frame: ""
target_frame: ""
organize_cloud: true
10 changes: 0 additions & 10 deletions velodyne_pointcloud/config/VLP32C-velodyne_convert_node-params.yaml
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2 changes: 2 additions & 0 deletions velodyne_pointcloud/config/VLP32C-velodyne_transform_node-params.yaml
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Expand Up @@ -5,4 +5,6 @@ velodyne_transform_node:
min_range: 0.9
max_range: 200.0
view_direction: 0.0
fixed_frame: ""
target_frame: ""
organize_cloud: true
86 changes: 0 additions & 86 deletions velodyne_pointcloud/include/velodyne_pointcloud/convert.hpp
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