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feat(aip_x2_gen2_launch): add launcher for ARS548 to pass some missing arguments #334

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merged 5 commits into from
Oct 22, 2024
Merged

feat(aip_x2_gen2_launch): add launcher for ARS548 to pass some missing arguments #334

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ee22bbb
feat: add launcher for radar to pass some missing arguments
TomohitoAndo Oct 22, 2024
87b5351
remove unuesed transform node
TomohitoAndo Oct 22, 2024
835c5e7
remove unused parameter
TomohitoAndo Oct 22, 2024
66f25fe
Revert "remove unuesed transform node"
TomohitoAndo Oct 22, 2024
dcca7e7
remove unnecessary comments
TomohitoAndo Oct 22, 2024
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17 changes: 17 additions & 0 deletions aip_x2_gen2_launch/config/ARS548.param.yaml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,17 @@
/**:
ros__parameters:
host_ip: 10.13.1.166
sensor_ip: 10.13.1.114
data_port: 42102
base_frame: base_link
object_frame: base_link
launch_hw: true
multicast_ip: 224.0.2.2
sensor_model: ARS548
configuration_host_port: 42401
configuration_sensor_port: 42101
use_sensor_time: false
configuration_vehicle_length: 7.2369
configuration_vehicle_width: 2.2916
configuration_vehicle_height: 3.08
configuration_vehicle_wheelbase: 4.76012
23 changes: 23 additions & 0 deletions aip_x2_gen2_launch/launch/ars548.launch.xml
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@@ -0,0 +1,23 @@
<?xml version="1.0"?>
<launch>
<arg name="sensor_model" default="ARS548"/>
<arg name="launch_hw" default="true" description="Whether to connect to a real sensor (true) or to accept packet messages (false)."/>
<arg name="config_file" default="$(find-pkg-share aip_x2_gen2_launch)/config/ARS548.param.yaml"/>
<arg name="frame_id"/>
<arg name="sensor_ip"/>
<arg name="odometry_topic"/>
<arg name="acceleration_topic"/>
<arg name="steering_angle_topic"/>

<node pkg="nebula_ros" exec="continental_ars548_ros_wrapper_node" name="nebula_continental_ars548" output="screen">
<param from="$(var config_file)" allow_substs="true"/>
<param name="launch_hw" value="$(var launch_hw)"/>
<param name="frame_id" value="$(var frame_id)"/>
<param name="sensor_ip" value="$(var sensor_ip)"/>
<remap from="odometry_input" to="$(var odometry_topic)"/>
<remap from="acceleration_input" to="$(var acceleration_topic)"/>
<remap from="steering_angle_input" to="$(var steering_angle_topic)"/>
<remap from="diagnostics" to="/diagnostics"/>
</node>

</launch>
37 changes: 13 additions & 24 deletions aip_x2_gen2_launch/launch/radar.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -9,17 +9,15 @@

<group>
<push-ros-namespace namespace="radar"/>

<!--node pkg="tf2_ros" exec="static_transform_publisher" name="tf_broadcaster" output="screen" args="$(var wheel_base) 0 0 0 0 0 base_link autosar"/-->
<node pkg="topic_tools" exec="transform" name="steer_angle_transform" output="screen" args="/vehicle/status/steering_status /vehicle/status/steering_status_scalar std_msgs/msg/Float32 'std_msgs.msg.Float32(data=m.steering_tire_angle)' --import autoware_auto_vehicle_msgs std_msgs --wait-for-start"/>
<!-- ros2 run topic_tools transform /vehicle/status/steering_status /vehicle/status/steering_status_scalar std_msgs/msg/Float64 'std_msgs.msg.Float64(data=m.steering_tire_angle)' \-\-import autoware_auto_vehicle_msgs std_msgs -->
<node pkg="topic_tools" exec="transform" name="steer_angle_transform" output="screen" args="/vehicle/status/steering_status /vehicle/status/steering_status_scalar std_msgs/msg/Float32 'std_msgs.msg.Float32(data=m.steering_tire_angle)' --import autoware_vehicle_msgs std_msgs --wait-for-start"/>

<group>
<push-ros-namespace namespace="front_center"/>
<include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml" if="$(var launch_driver)">
<include file="$(find-pkg-share aip_x2_gen2_launch)/launch/ars548.launch.xml">
<arg name="odometry_topic" value="$(var odometry_topic)"/>
<arg name="acceleration_topic" value="$(var acceleration_topic)"/>
<arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>
<arg name="launch_hw" value="$(var launch_driver)"/>

<arg name="sensor_ip" value="10.13.1.114"/>
<arg name="frame_id" value="front_center/radar_link"/>
Expand All @@ -31,8 +29,6 @@
<arg name="data_port" value="42102"/>
<arg name="configuration_host_port" value="42401"/>
<arg name="configuration_sensor_port" value="42101"/>

<arg name="new_plug_orientation" value="0"/>
</include>


Expand All @@ -48,11 +44,11 @@

<group>
<push-ros-namespace namespace="front_left"/>
<include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml" if="$(var launch_driver)">

<include file="$(find-pkg-share aip_x2_gen2_launch)/launch/ars548.launch.xml">
<arg name="odometry_topic" value="$(var odometry_topic)"/>
<arg name="acceleration_topic" value="$(var acceleration_topic)"/>
<arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>
<arg name="launch_hw" value="$(var launch_driver)"/>

<arg name="sensor_ip" value="10.13.1.115"/>
<arg name="frame_id" value="front_left/radar_link"/>
Expand All @@ -64,8 +60,6 @@
<arg name="data_port" value="42102"/>
<arg name="configuration_host_port" value="42401"/>
<arg name="configuration_sensor_port" value="42101"/>

<arg name="new_plug_orientation" value="0"/>
</include>

<include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
Expand All @@ -80,11 +74,11 @@

<group>
<push-ros-namespace namespace="front_right"/>
<include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml" if="$(var launch_driver)">

<include file="$(find-pkg-share aip_x2_gen2_launch)/launch/ars548.launch.xml">
<arg name="odometry_topic" value="$(var odometry_topic)"/>
<arg name="acceleration_topic" value="$(var acceleration_topic)"/>
<arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>
<arg name="launch_hw" value="$(var launch_driver)"/>

<arg name="sensor_ip" value="10.13.1.116"/>
<arg name="frame_id" value="front_right/radar_link"/>
Expand All @@ -96,8 +90,6 @@
<arg name="data_port" value="42102"/>
<arg name="configuration_host_port" value="42401"/>
<arg name="configuration_sensor_port" value="42101"/>

<arg name="new_plug_orientation" value="0"/>
</include>

<include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
Expand All @@ -112,10 +104,11 @@

<group>
<push-ros-namespace namespace="rear_center"/>
<include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml" if="$(var launch_driver)">
<include file="$(find-pkg-share aip_x2_gen2_launch)/launch/ars548.launch.xml">
<arg name="odometry_topic" value="$(var odometry_topic)"/>
<arg name="acceleration_topic" value="$(var acceleration_topic)"/>
<arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>
<arg name="launch_hw" value="$(var launch_driver)"/>

<arg name="sensor_ip" value="10.13.1.117"/>
<arg name="frame_id" value="rear_center/radar_link"/>
Expand All @@ -127,8 +120,6 @@
<arg name="data_port" value="42102"/>
<arg name="configuration_host_port" value="42401"/>
<arg name="configuration_sensor_port" value="42101"/>

<arg name="new_plug_orientation" value="0"/>
</include>

<include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
Expand All @@ -143,10 +134,11 @@

<group>
<push-ros-namespace namespace="rear_left"/>
<include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml" if="$(var launch_driver)">
<include file="$(find-pkg-share aip_x2_gen2_launch)/launch/ars548.launch.xml">
<arg name="odometry_topic" value="$(var odometry_topic)"/>
<arg name="acceleration_topic" value="$(var acceleration_topic)"/>
<arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>
<arg name="launch_hw" value="$(var launch_driver)"/>

<arg name="sensor_ip" value="10.13.1.118"/>
<arg name="frame_id" value="rear_left/radar_link"/>
Expand All @@ -158,8 +150,6 @@
<arg name="data_port" value="42102"/>
<arg name="configuration_host_port" value="42401"/>
<arg name="configuration_sensor_port" value="42101"/>

<arg name="new_plug_orientation" value="0"/>
</include>

<include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
Expand All @@ -174,10 +164,11 @@

<group>
<push-ros-namespace namespace="rear_right"/>
<include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml" if="$(var launch_driver)">
<include file="$(find-pkg-share aip_x2_gen2_launch)/launch/ars548.launch.xml">
<arg name="odometry_topic" value="$(var odometry_topic)"/>
<arg name="acceleration_topic" value="$(var acceleration_topic)"/>
<arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>
<arg name="launch_hw" value="$(var launch_driver)"/>

<arg name="sensor_ip" value="10.13.1.119"/>
<arg name="frame_id" value="rear_right/radar_link"/>
Expand All @@ -189,8 +180,6 @@
<arg name="data_port" value="42102"/>
<arg name="configuration_host_port" value="42401"/>
<arg name="configuration_sensor_port" value="42101"/>

<arg name="new_plug_orientation" value="0"/>
</include>

<include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
Expand Down
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