From 972c54a65db8d6690bf95cce627baf6131b2306a Mon Sep 17 00:00:00 2001 From: Kenzo Lobos-Tsunekawa Date: Mon, 3 Feb 2025 13:19:05 +0900 Subject: [PATCH] feat: accepting variable number of crop boxes now Signed-off-by: Kenzo Lobos-Tsunekawa --- .../launch/nebula_node_container.launch.py | 40 ++++++++++++------- 1 file changed, 26 insertions(+), 14 deletions(-) diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py index 074116f7..acbfb1de 100644 --- a/common_sensor_launch/launch/nebula_node_container.launch.py +++ b/common_sensor_launch/launch/nebula_node_container.launch.py @@ -97,8 +97,8 @@ def create_parameter_dict(*args): nodes.append( ComposableNode( package="nebula_ros", - plugin=sensor_make + "DriverRosWrapper", - name=sensor_make.lower() + "_driver_ros_wrapper_node", + plugin=sensor_make + "RosWrapper", + name=sensor_make.lower() + "_ros_wrapper_node", parameters=[ { "calibration_file": sensor_calib_fp, @@ -189,18 +189,30 @@ def create_parameter_dict(*args): ) preprocessor_parameters = {} - preprocessor_parameters["self_crop.min_x"] = vehicle_info["min_longitudinal_offset"] - preprocessor_parameters["self_crop.max_x"] = vehicle_info["max_longitudinal_offset"] - preprocessor_parameters["self_crop.min_y"] = vehicle_info["min_lateral_offset"] - preprocessor_parameters["self_crop.max_y"] = vehicle_info["max_lateral_offset"] - preprocessor_parameters["self_crop.min_z"] = vehicle_info["min_height_offset"] - preprocessor_parameters["self_crop.max_z"] = vehicle_info["max_height_offset"] - preprocessor_parameters["mirror_crop.min_x"] = mirror_info["min_longitudinal_offset"] - preprocessor_parameters["mirror_crop.max_x"] = mirror_info["max_longitudinal_offset"] - preprocessor_parameters["mirror_crop.min_y"] = mirror_info["min_lateral_offset"] - preprocessor_parameters["mirror_crop.max_y"] = mirror_info["max_lateral_offset"] - preprocessor_parameters["mirror_crop.min_z"] = mirror_info["min_height_offset"] - preprocessor_parameters["mirror_crop.max_z"] = mirror_info["max_height_offset"] + preprocessor_parameters["crop_box.min_x"] = [ + vehicle_info["min_longitudinal_offset"], + mirror_info["min_longitudinal_offset"], + ] + preprocessor_parameters["crop_box.max_x"] = [ + vehicle_info["max_longitudinal_offset"], + mirror_info["max_longitudinal_offset"], + ] + preprocessor_parameters["crop_box.min_y"] = [ + vehicle_info["min_lateral_offset"], + mirror_info["min_lateral_offset"], + ] + preprocessor_parameters["crop_box.max_y"] = [ + vehicle_info["max_lateral_offset"], + mirror_info["max_lateral_offset"], + ] + preprocessor_parameters["crop_box.min_z"] = [ + vehicle_info["min_height_offset"], + mirror_info["min_height_offset"], + ] + preprocessor_parameters["crop_box.max_z"] = [ + vehicle_info["max_height_offset"], + mirror_info["max_height_offset"], + ] ring_outlier_filter_node_param = ParameterFile( param_file=LaunchConfiguration("ring_outlier_filter_node_param_file").perform(context),