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Rework params
Signed-off-by: oguzkaganozt <oguzkaganozt@gmail.com>
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‎perception/elevation_map_loader/README.md

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## Parameters
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### Node parameters
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| Name | Type | Description | Default value |
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| :-------------------------------- | :---------- | :------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :------------ |
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| map_layer_name | std::string | elevation_map layer name | elevation |
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| param_file_path | std::string | GridMap parameters config | path_default |
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| elevation_map_directory | std::string | elevation_map file (bag2) | path_default |
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| map_frame | std::string | map_frame when loading elevation_map file | map |
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| use_inpaint | bool | Whether to inpaint empty cells | true |
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| inpaint_radius | float | Radius of a circular neighborhood of each point inpainted that is considered by the algorithm [m] | 0.3 |
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| use_elevation_map_cloud_publisher | bool | Whether to publish `output/elevation_map_cloud` | false |
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| use_lane_filter | bool | Whether to filter elevation_map with vector_map | false |
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| lane_margin | float | Margin distance from the lane polygon of the area to be included in the inpainting mask [m]. Used only when use_lane_filter=True. | 0.0 |
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| use_sequential_load | bool | Whether to get point cloud map by service | false |
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| sequential_map_load_num | int | The number of point cloud maps to load at once (only used when use_sequential_load is set true). This should not be larger than number of all point cloud map cells. | 1 |
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### GridMap parameters
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The parameters are described on `config/elevation_map_parameters.yaml`.
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#### General parameters
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| Name | Type | Description | Default value |
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| :--------------------------------------------- | :--- | :----------------------------------------------------------------------------------------------------------- | :------------ |
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| pcl_grid_map_extraction/num_processing_threads | int | Number of threads for processing grid map cells. Filtering of the raw input point cloud is not parallelized. | 12 |
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#### Grid map parameters
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See: <https://github.com/ANYbotics/grid_map/tree/ros2/grid_map_pcl>
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Resulting grid map parameters.
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| Name | Type | Description | Default value |
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| :------------------------------------------------------- | :---- | :--------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :------------ |
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| pcl_grid_map_extraction/grid_map/min_num_points_per_cell | int | Minimum number of points in the point cloud that have to fall within any of the grid map cells. Otherwise the cell elevation will be set to NaN. | 3 |
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| pcl_grid_map_extraction/grid_map/resolution | float | Resolution of the grid map. Width and length are computed automatically. | 0.3 |
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| pcl_grid_map_extraction/grid_map/height_type | int | The parameter that determine the elevation of a cell `0: Smallest value among the average values of each cluster`, `1: Mean value of the cluster with the most points` | 1 |
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| pcl_grid_map_extraction/grid_map/height_thresh | float | Height range from the smallest cluster (Only for height_type 1) | 1.0 |
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### Point Cloud Pre-processing Parameters
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#### Rigid body transform parameters
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Rigid body transform that is applied to the point cloud before computing elevation.
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| Name | Type | Description | Default value |
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| :-------------------------------------------------- | :---- | :---------------------------------------------------------------------------------------------------------------------- | :------------ |
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| pcl_grid_map_extraction/cloud_transform/translation | float | Translation (xyz) that is applied to the input point cloud before computing elevation. | 0.0 |
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| pcl_grid_map_extraction/cloud_transform/rotation | float | Rotation (intrinsic rotation, convention X-Y'-Z'') that is applied to the input point cloud before computing elevation. | 0.0 |
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#### Cluster extraction parameters
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Cluster extraction is based on pcl algorithms. See <https://pointclouds.org/documentation/tutorials/cluster_extraction.html> for more details.
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| Name | Type | Description | Default value |
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| :----------------------------------------------------------- | :---- | :------------------------------------------------------------------------------------- | :------------ |
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| pcl_grid_map_extraction/cluster_extraction/cluster_tolerance | float | Distance between points below which they will still be considered part of one cluster. | 0.2 |
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| pcl_grid_map_extraction/cluster_extraction/min_num_points | int | Min number of points that a cluster needs to have (otherwise it will be discarded). | 3 |
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| pcl_grid_map_extraction/cluster_extraction/max_num_points | int | Max number of points that a cluster can have (otherwise it will be discarded). | 1000000 |
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#### Outlier removal parameters
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See <https://pointclouds.org/documentation/tutorials/statistical_outlier.html> for more explanation on outlier removal.
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| Name | Type | Description | Default value |
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| :--------------------------------------------------------- | :---- | :----------------------------------------------------------------------------- | :------------ |
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| pcl_grid_map_extraction/outlier_removal/is_remove_outliers | float | Whether to perform statistical outlier removal. | false |
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| pcl_grid_map_extraction/outlier_removal/mean_K | float | Number of neighbors to analyze for estimating statistics of a point. | 10 |
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| pcl_grid_map_extraction/outlier_removal/stddev_threshold | float | Number of standard deviations under which points are considered to be inliers. | 1.0 |
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#### Subsampling parameters
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See <https://pointclouds.org/documentation/tutorials/voxel_grid.html> for more explanation on point cloud downsampling.
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| Name | Type | Description | Default value |
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| :------------------------------------------------------- | :---- | :-------------------------------------- | :------------ |
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| pcl_grid_map_extraction/downsampling/is_downsample_cloud | bool | Whether to perform downsampling or not. | false |
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| pcl_grid_map_extraction/downsampling/voxel_size | float | Voxel sizes (xyz) in meters. | 0.02 |
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{{ json_to_markdown("perception/elevation_map_loader/schema/elevation_map_loader.schema.json") }}

‎perception/elevation_map_loader/config/elevation_map_loader.param.yaml

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/**:
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ros__parameters:
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map_layer_name: "elevation"
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param_file_path: "path_default"
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map_frame: "map"
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use_sequential_load: true
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sequential_map_load_num: 1
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use_inpaint: true
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inpaint_radius: 0.3
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use_elevation_map_cloud_publisher: false
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elevation_map_directory: "path_default"
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use_lane_filter: false
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lane_margin: 0.0

‎perception/elevation_map_loader/config/elevation_map_parameters.yaml

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This file was deleted.

‎perception/elevation_map_loader/launch/elevation_map_loader.launch.xml

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<launch>
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<arg name="elevation_map_directory" default="$(find-pkg-share elevation_map_loader)/data/elevation_maps"/>
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<arg name="param_file_path" default="$(find-pkg-share elevation_map_loader)/config/elevation_map_parameters.yaml"/>
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<arg name="use_lane_filter" default="false"/>
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<arg name="use_sequential_load" default="false"/>
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<arg name="sequential_map_load_num" default="1"/>
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<arg name="use_inpaint" default="true"/>
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<arg name="inpaint_radius" default="1.0"/>
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<arg name="param_file_path" default="$(find-pkg-share elevation_map_loader)/config/elevation_map_loader.param.yaml"/>
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<node pkg="elevation_map_loader" exec="elevation_map_loader" name="elevation_map_loader" output="screen">
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<remap from="output/elevation_map" to="/map/elevation_map"/>
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<remap from="input/pointcloud_map" to="/map/pointcloud_map"/>
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<remap from="input/pointcloud_map_metadata" to="/map/pointcloud_map_metadata"/>
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<remap from="input/vector_map" to="/map/vector_map"/>
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<remap from="service/get_selected_pcd_map" to="/map/get_selected_pointcloud_map"/>
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<param name="elevation_map_directory" value="$(var elevation_map_directory)"/>
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<param name="param_file_path" value="$(var param_file_path)"/>
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<param name="use_lane_filter" value="$(var use_lane_filter)"/>
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<param name="use_sequential_load" value="$(var use_sequential_load)"/>
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<param name="sequential_map_load_num" value="$(var sequential_map_load_num)"/>
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<param from="$(var param_file_path)" allow_substs="true"/>
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</node>
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</launch>

‎perception/elevation_map_loader/schema/elevation_map_loader.schema.json

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{
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "Elevation Map Loader Params",
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"type": "object",
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"definitions": {
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"elevation_map_loader": {
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"type": "object",
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"properties": {
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"map_layer_name": {
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"type": "string",
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"description": "elevation_map layer name",
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"default": "elevation"
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},
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"param_file_path": {
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"type": "string",
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"description": "GridMap parameters config",
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"default": "path_default"
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},
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"map_frame": {
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"type": "string",
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"description": "map_frame when loading elevation_map file",
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"default": "map"
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},
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"use_sequential_load": {
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"type": "boolean",
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"description": "Whether to get point cloud map by service",
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"default": true
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},
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"sequential_map_load_num": {
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"type": "integer",
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"description": "The number of point cloud maps to load at once (only used when use_sequential_load is set true). This should not be larger than number of all point cloud map cells",
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"default": 1
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},
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"use_inpaint": {
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"type": "boolean",
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"description": "Whether to inpaint empty cells",
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"default": true
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},
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"inpaint_radius": {
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"type": "number",
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"description": "Radius of a circular neighborhood of each point inpainted that is considered by the algorithm [m]",
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"default": 0.3
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},
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"use_elevation_map_cloud_publisher": {
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"type": "boolean",
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"description": "Whether to publish `output/elevation_map_cloud`",
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"default": false
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},
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"elevation_map_directory": {
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"type": "string",
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"description": "elevation_map file (bag2)",
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"default": "path_default"
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},
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"use_lane_filter": {
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"type": "boolean",
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"description": "Whether to filter elevation_map with vector_map",
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"default": false
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},
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"lane_margin": {
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"type": "number",
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"description": "Margin distance from the lane polygon of the area to be included in the inpainting mask [m]. Used only when use_lane_filter=True",
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"default": 0.0
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}
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},
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"required": ["elevation_map_loader", "map_layer_name", "param_file_path", "map_frame", "use_sequential_load", "sequential_map_load_num", "use_inpaint", "inpaint_radius", "use_elevation_map_cloud_publisher", "elevation_map_directory", "use_lane_filter", "lane_margin"],
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"additionalProperties": false
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}
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},
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"properties": {
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"/**": {
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"type": "object",
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"properties": {
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"ros__parameters": {
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"$ref": "#/definitions/elevation_map_loader"
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}
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},
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"required": ["ros__parameters"],
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"additionalProperties": false
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}
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},
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"required": ["/**"],
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"additionalProperties": false
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}

‎perception/elevation_map_loader/src/elevation_map_loader_node.cpp

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ElevationMapLoaderNode::ElevationMapLoaderNode(const rclcpp::NodeOptions & options)
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: Node("elevation_map_loader", options)
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{
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layer_name_ = this->declare_parameter("map_layer_name", std::string("elevation"));
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param_file_path_ = this->declare_parameter("param_file_path", "path_default");
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map_frame_ = this->declare_parameter("map_frame", "map");
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bool use_sequential_load = this->declare_parameter<bool>("use_sequential_load", true);
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int sequential_map_load_num_int = this->declare_parameter<int>("sequential_map_load_num", 1);
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layer_name_ = this->declare_parameter<std::string>("map_layer_name");
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param_file_path_ = this->declare_parameter<std::string>("param_file_path");
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map_frame_ = this->declare_parameter<std::string>("map_frame");
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bool use_sequential_load = this->declare_parameter<bool>("use_sequential_load");
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int sequential_map_load_num_int = this->declare_parameter<int>("sequential_map_load_num");
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if (sequential_map_load_num_int > 0) {
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sequential_map_load_num_ = (unsigned int)sequential_map_load_num_int;
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} else {
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throw std::runtime_error("sequential_map_load_num should be larger than 0.");
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}
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use_inpaint_ = this->declare_parameter("use_inpaint", true);
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inpaint_radius_ = this->declare_parameter("inpaint_radius", 0.3);
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use_inpaint_ = this->declare_parameter<bool>("use_inpaint");
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inpaint_radius_ = this->declare_parameter<double>("inpaint_radius");
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use_elevation_map_cloud_publisher_ =
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this->declare_parameter("use_elevation_map_cloud_publisher", false);
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elevation_map_directory_ = this->declare_parameter("elevation_map_directory", "path_default");
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const bool use_lane_filter = this->declare_parameter("use_lane_filter", false);
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this->declare_parameter<bool>("use_elevation_map_cloud_publisher");
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elevation_map_directory_ = this->declare_parameter<std::string>("elevation_map_directory");
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const bool use_lane_filter = this->declare_parameter<bool>("use_lane_filter");
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data_manager_.use_lane_filter_ = use_lane_filter;
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lane_filter_.use_lane_filter_ = use_lane_filter;
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lane_filter_.lane_margin_ = this->declare_parameter("lane_margin", 0.0);
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lane_filter_.lane_margin_ = this->declare_parameter<double>("lane_margin");
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rclcpp::QoS durable_qos{1};
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durable_qos.transient_local();

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