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vividfkyoichi-sugahara
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refactor(autoware_pointcloud_preprocessor): rework lanelet2 map filter parameters (autowarefoundation#8491)
* feat: rework lanelet2 map filter parameters Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: remove unrelated files Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix: fix node name in launch Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix launcher Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix spell error Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: add boundary Signed-off-by: vividf <yihsiang.fang@tier4.jp> --------- Signed-off-by: vividf <yihsiang.fang@tier4.jp>
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‎sensing/autoware_pointcloud_preprocessor/CMakeLists.txt

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@@ -78,7 +78,7 @@ ament_auto_add_library(pointcloud_preprocessor_filter SHARED
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src/passthrough_filter/passthrough_filter_uint16_nodelet.cpp
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src/passthrough_filter/passthrough_uint16.cpp
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src/pointcloud_accumulator/pointcloud_accumulator_nodelet.cpp
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src/vector_map_filter/lanelet2_map_filter_nodelet.cpp
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src/vector_map_filter/lanelet2_map_filter_node.cpp
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src/distortion_corrector/distortion_corrector.cpp
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src/distortion_corrector/distortion_corrector_node.cpp
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src/blockage_diag/blockage_diag_node.cpp

‎sensing/autoware_pointcloud_preprocessor/config/lanelet2_map_filter_node.param.yaml

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/**:
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ros__parameters:
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voxel_size_x: 0.04
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voxel_size_y: 0.04

‎sensing/autoware_pointcloud_preprocessor/docs/vector-map-filter.md

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@@ -25,10 +25,7 @@ The `vector_map_filter` is a node that removes points on the outside of lane by
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### Core Parameters
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| Name | Type | Default Value | Description |
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| -------------- | ------ | ------------- | ----------- |
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| `voxel_size_x` | double | 0.04 | voxel size |
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| `voxel_size_y` | double | 0.04 | voxel size |
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{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/lanelet2_map_filter_node.schema.json") }}
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## Assumptions / Known limits
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‎sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/vector_map_filter/lanelet2_map_filter_nodelet.hpp renamed to ‎sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/vector_map_filter/lanelet2_map_filter_node.hpp

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// Copyright 2020 Tier IV, Inc.
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// Copyright 2024 TIER IV, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__VECTOR_MAP_FILTER__LANELET2_MAP_FILTER_NODELET_HPP_
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#define AUTOWARE__POINTCLOUD_PREPROCESSOR__VECTOR_MAP_FILTER__LANELET2_MAP_FILTER_NODELET_HPP_
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#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__VECTOR_MAP_FILTER__LANELET2_MAP_FILTER_NODE_HPP_
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#define AUTOWARE__POINTCLOUD_PREPROCESSOR__VECTOR_MAP_FILTER__LANELET2_MAP_FILTER_NODE_HPP_
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#include <autoware/universe_utils/geometry/boost_geometry.hpp>
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#include <autoware_lanelet2_extension/utility/message_conversion.hpp>
@@ -97,4 +97,4 @@ class Lanelet2MapFilterComponent : public rclcpp::Node
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} // namespace autoware::pointcloud_preprocessor
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#endif // AUTOWARE__POINTCLOUD_PREPROCESSOR__VECTOR_MAP_FILTER__LANELET2_MAP_FILTER_NODELET_HPP_
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#endif // AUTOWARE__POINTCLOUD_PREPROCESSOR__VECTOR_MAP_FILTER__LANELET2_MAP_FILTER_NODE_HPP_

‎sensing/autoware_pointcloud_preprocessor/launch/lanelet2_map_filter_node.launch.xml

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<launch>
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<arg name="input_vector_map" default="/map/vector_map"/>
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<arg name="input_pointcloud" default="detection_area/pointcloud"/>
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<arg name="output_pointcloud" default="vector_map_filtered/pointcloud"/>
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<arg name="lanelet2_map_filter_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/lanelet2_map_filter_node.param.yaml"/>
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<node pkg="autoware_pointcloud_preprocessor" exec="vector_map_filter_node" name="vector_map_filter_node">
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<param from="$(var lanelet2_map_filter_param_file)"/>
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<remap from="input/vector_map" to="$(var input_vector_map)"/>
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<remap from="input/pointcloud" to="$(var input_pointcloud)"/>
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<remap from="output" to="$(var output_pointcloud)"/>
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</node>
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</launch>

‎sensing/autoware_pointcloud_preprocessor/schema/lanelet2_map_filter_node.schema.json

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{
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "Parameters for Lanelet2 Map Filter Node",
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"type": "object",
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"definitions": {
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"lanelet2_map_filter": {
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"type": "object",
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"properties": {
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"voxel_size_x": {
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"type": "number",
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"description": "voxel size along x-axis [m]",
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"default": "0.04",
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"minimum": 0
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},
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"voxel_size_y": {
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"type": "number",
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"description": "voxel size along y-axis [m]",
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"default": "0.04",
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"minimum": 0
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}
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},
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"required": ["voxel_size_x", "voxel_size_y"],
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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/lanelet2_map_filter"
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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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}

‎sensing/autoware_pointcloud_preprocessor/src/vector_map_filter/lanelet2_map_filter_nodelet.cpp renamed to ‎sensing/autoware_pointcloud_preprocessor/src/vector_map_filter/lanelet2_map_filter_node.cpp

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// Copyright 2020 Tier IV, Inc.
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// Copyright 2024 TIER IV, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "autoware/pointcloud_preprocessor/vector_map_filter/lanelet2_map_filter_nodelet.hpp"
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#include "autoware/pointcloud_preprocessor/vector_map_filter/lanelet2_map_filter_node.hpp"
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#include "autoware/pointcloud_preprocessor/filter.hpp"
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// Set parameters
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{
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voxel_size_x_ = declare_parameter("voxel_size_x", 0.04);
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voxel_size_y_ = declare_parameter("voxel_size_y", 0.04);
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voxel_size_x_ = declare_parameter<float>("voxel_size_x");
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voxel_size_y_ = declare_parameter<float>("voxel_size_y");
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}
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// Set publisher

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