chore(aip_x2_gen2_launch): use parameter file for ring_outlier_filter (…

…#385)

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

aip_x2_gen2_launch/launch/nebula_node_container.launch.py

@@ -26,6 +26,7 @@
 from launch_ros.actions import ComposableNodeContainer
 from launch_ros.actions import LoadComposableNodes
 from launch_ros.descriptions import ComposableNode
+from launch_ros.parameter_descriptions import ParameterFile
 from launch_ros.substitutions import FindPackageShare
 import yaml
 
@@ -161,6 +162,18 @@ def str2vector(string):
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )
 
+    ring_outlier_filter_node_param = ParameterFile(
+        param_file=LaunchConfiguration("ring_outlier_filter_node_param_file").perform(context),
+        allow_substs=True,
+    )
+
+    # Ring Outlier Filter is the last component in the pipeline, so control the output frame here
+    if LaunchConfiguration("output_as_sensor_frame").perform(context).lower() == "true":
+        ring_outlier_output_frame = {"output_frame": LaunchConfiguration("frame_id")}
+    else:
+        # keep the output frame as the input frame
+        ring_outlier_output_frame = {"output_frame": ""}
+
     ring_outlier_filter_component = ComposableNode(
         package="autoware_pointcloud_preprocessor",
         plugin="autoware::pointcloud_preprocessor::RingOutlierFilterComponent",
@@ -169,6 +182,7 @@ def str2vector(string):
             ("input", "rectified/pointcloud_ex"),
             ("output", "pointcloud"),
         ],
+        parameters=[ring_outlier_filter_node_param, ring_outlier_output_frame],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )
 
@@ -298,6 +312,10 @@ def add_launch_arg(name: str, default_value=None, description=None):
         "blockage_diagnostics_param_file",
         [FindPackageShare("common_sensor_launch"), "/config/blockage_diagnostics.param.yaml"],
     )
+    add_launch_arg(
+        "ring_outlier_filter_node_param_file",
+        [FindPackageShare("common_sensor_launch"), "/config/ring_outlier_filter_node.param.yaml"],
+    )
     add_launch_arg(
         "distortion_corrector_node_param_file",
         [FindPackageShare("common_sensor_launch"), "/config/distortion_corrector_node.param.yaml"],
@@ -312,6 +330,7 @@ def add_launch_arg(name: str, default_value=None, description=None):
     add_launch_arg("point_filters_param_file")
 
     add_launch_arg("calibration_file", "")
+    add_launch_arg("output_as_sensor_frame", "True", "output final pointcloud in sensor frame")
 
     set_container_executable = SetLaunchConfiguration(
         "container_executable",