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add params for dual_return_filter
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@kotaro-hihara
kotaro-hihara committed Feb 6, 2025
1 parent 4faeff4 commit 35b7802
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Showing 3 changed files with 43 additions and 17 deletions.
13 changes: 8 additions & 5 deletions aip_x2_gen2_launch/config/dual_return_filter.param.yaml
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Original file line number Diff line number Diff line change
@@ -1,13 +1,16 @@
/**:
ros__parameters:
roi_mode: "Fixed_azimuth_ROI" # description="options: `No_ROI`, `Fixed_xyz_ROI` or `Fixed_azimuth_ROI`"/>
weak_first_local_noise_threshold: 2 # description="for No_ROI roi_mode, recommended value is 10" />
visibility_error_threshold: 0.95
visibility_warn_threshold: 0.97
max_distance: 10.0
x_max: 18.0
x_min: -12.0
y_max: 2.0
y_min: -2.0
z_max: 10.0
z_min: 0.0
max_distance: 10.0
max_azimuth_diff: 50.0
weak_first_distance_ratio: 1.004
general_distance_ratio: 1.03
weak_first_local_noise_threshold: 2
roi_mode: "Fixed_azimuth_ROI"
visibility_error_threshold: 0.92
visibility_warn_threshold: 0.95
40 changes: 32 additions & 8 deletions aip_x2_gen2_launch/launch/lidar.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -38,7 +38,7 @@
<arg name="cut_angle" value="180.0" />
<arg name="cloud_min_angle" value="88"/>
<arg name="cloud_max_angle" value="274"/>
<arg name="return_mode" value="LastStrongest"/>
<arg name="return_mode" value="Dual"/>
<arg name="min_range" value="0.05"/>
<arg name="max_range" value="50.0"/>
<arg name="ptp_profile" value="automotive"/>
Expand All @@ -61,6 +61,9 @@
<arg name="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/rear_upper/point_filters_one_third.param.yaml" />
<arg name="dual_return_distance_threshold" value="0.1"/>
<arg name="blockage_diagnostics_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/blockage_diagnostics_param_file.yaml" />
<arg name="min_azimuth_deg" value="135.0"/>
<arg name="max_azimuth_deg" value="225.0"/>
<arg name="use_dual_return_filter" value="false"/>
</include>
</group>

Expand All @@ -77,7 +80,7 @@
<arg name="cut_angle" value="359.0" />
<arg name="cloud_min_angle" value="90"/>
<arg name="cloud_max_angle" value="359"/>
<arg name="return_mode" value="LastStrongest"/>
<arg name="return_mode" value="Dual"/>
<arg name="min_range" value="0.05"/>
<arg name="max_range" value="50.0"/>
<arg name="ptp_profile" value="automotive"/>
Expand All @@ -100,6 +103,9 @@
<arg name="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/left_upper/point_filters_one_third.param.yaml" />
<arg name="dual_return_distance_threshold" value="0.1"/>
<arg name="blockage_diagnostics_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/blockage_diagnostics_param_file.yaml" />
<arg name="min_azimuth_deg" value="225.0"/>
<arg name="max_azimuth_deg" value="315.0"/>
<arg name="use_dual_return_filter" value="false"/>
</include>
</group>

Expand All @@ -116,7 +122,7 @@
<arg name="cut_angle" value="180.0" />
<arg name="cloud_min_angle" value="90"/>
<arg name="cloud_max_angle" value="270"/>
<arg name="return_mode" value="LastStrongest"/>
<arg name="return_mode" value="Dual"/>
<arg name="min_range" value="0.3"/>
<arg name="max_range" value="230.0"/>
<arg name="ptp_profile" value="automotive"/>
Expand All @@ -139,6 +145,9 @@
<arg name="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/rear_lower/point_filters_full.param.yaml" />
<arg name="dual_return_distance_threshold" value="0.1"/>
<arg name="blockage_diagnostics_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/blockage_diagnostics_param_file.yaml" />
<arg name="min_azimuth_deg" value="135.0"/>
<arg name="max_azimuth_deg" value="225.0"/>
<arg name="use_dual_return_filter" value="false"/>
</include>
</group>

Expand All @@ -155,7 +164,7 @@
<arg name="cut_angle" value="270.0" />
<arg name="cloud_min_angle" value="90"/>
<arg name="cloud_max_angle" value="270"/>
<arg name="return_mode" value="LastStrongest"/>
<arg name="return_mode" value="Dual"/>
<arg name="min_range" value="0.3"/>
<arg name="max_range" value="230.0"/>
<arg name="ptp_profile" value="automotive"/>
Expand All @@ -178,6 +187,9 @@
<arg name="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/left_lower/point_filters_full.param.yaml" />
<arg name="dual_return_distance_threshold" value="0.1"/>
<arg name="blockage_diagnostics_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/blockage_diagnostics_param_file.yaml" />
<arg name="min_azimuth_deg" value="225.0"/>
<arg name="max_azimuth_deg" value="315.0"/>
<arg name="use_dual_return_filter" value="false"/>
</include>
</group>

Expand All @@ -195,7 +207,7 @@
<arg name="cut_angle" value="275.0" />
<arg name="cloud_min_angle" value="85"/>
<arg name="cloud_max_angle" value="275"/>
<arg name="return_mode" value="LastStrongest"/>
<arg name="return_mode" value="Dual"/>
<arg name="min_range" value="0.05"/>
<arg name="max_range" value="50.0"/>
<arg name="ptp_profile" value="automotive"/>
Expand All @@ -218,6 +230,9 @@
<arg name="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/front_upper/point_filters_one_third.param.yaml" />
<arg name="dual_return_distance_threshold" value="0.1"/>
<arg name="blockage_diagnostics_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/blockage_diagnostics_param_file.yaml" />
<arg name="min_azimuth_deg" value="135.0"/>
<arg name="max_azimuth_deg" value="225.0"/>
<arg name="use_dual_return_filter" value="false"/>
</include>
</group>

Expand All @@ -234,7 +249,7 @@
<arg name="cut_angle" value="270.0" />
<arg name="cloud_min_angle" value="0"/>
<arg name="cloud_max_angle" value="270"/>
<arg name="return_mode" value="LastStrongest"/>
<arg name="return_mode" value="Dual"/>
<arg name="min_range" value="0.05"/>
<arg name="max_range" value="50.0"/>
<arg name="ptp_profile" value="automotive"/>
Expand All @@ -257,6 +272,9 @@
<arg name="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/right_upper/point_filters_one_third.param.yaml" />
<arg name="dual_return_distance_threshold" value="0.1"/>
<arg name="blockage_diagnostics_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/blockage_diagnostics_param_file.yaml" />
<arg name="min_azimuth_deg" value="45.0"/>
<arg name="max_azimuth_deg" value="135.0"/>
<arg name="use_dual_return_filter" value="false"/>
</include>
</group>

Expand All @@ -273,7 +291,7 @@
<arg name="cut_angle" value="270.0" />
<arg name="cloud_min_angle" value="90"/>
<arg name="cloud_max_angle" value="270"/>
<arg name="return_mode" value="LastStrongest"/>
<arg name="return_mode" value="Dual"/>
<arg name="min_range" value="0.3"/>
<arg name="max_range" value="230.0"/>
<arg name="ptp_profile" value="automotive"/>
Expand All @@ -296,6 +314,9 @@
<arg name="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/front_lower/point_filters_full.param.yaml" />
<arg name="dual_return_distance_threshold" value="0.1"/>
<arg name="blockage_diagnostics_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/blockage_diagnostics_param_file.yaml" />
<arg name="min_azimuth_deg" value="135.0"/>
<arg name="max_azimuth_deg" value="225.0"/>
<arg name="use_dual_return_filter" value="false"/>
</include>
</group>

Expand All @@ -312,7 +333,7 @@
<arg name="cut_angle" value="270.0" />
<arg name="cloud_min_angle" value="90"/>
<arg name="cloud_max_angle" value="270"/>
<arg name="return_mode" value="LastStrongest"/>
<arg name="return_mode" value="Dual"/>
<arg name="min_range" value="0.3"/>
<arg name="max_range" value="230.0"/>
<arg name="ptp_profile" value="automotive"/>
Expand All @@ -335,6 +356,9 @@
<arg name="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/right_lower/point_filters_full.param.yaml" />
<arg name="dual_return_distance_threshold" value="0.1"/>
<arg name="blockage_diagnostics_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/blockage_diagnostics_param_file.yaml" />
<arg name="min_azimuth_deg" value="45.0"/>
<arg name="max_azimuth_deg" value="135.0"/>
<arg name="use_dual_return_filter" value="false"/>
</include>
</group>

Expand Down
7 changes: 3 additions & 4 deletions aip_x2_gen2_launch/launch/nebula_node_container.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -19,8 +19,6 @@

# from launch.conditions import LaunchConfigurationNotEquals
from launch.conditions import IfCondition
from launch.conditions import LaunchConfigurationEquals
from launch.conditions import LaunchConfigurationNotEquals
from launch.conditions import UnlessCondition
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import ComposableNodeContainer
Expand Down Expand Up @@ -245,13 +243,13 @@ def str2vector(string):
ring_outlier_filter_loader = LoadComposableNodes(
composable_node_descriptions=[ring_outlier_filter_component],
target_container=container,
condition=LaunchConfigurationNotEquals("return_mode", "Dual"),
condition=launch.conditions.UnlessCondition(LaunchConfiguration("use_dual_return_filter")),
)

dual_return_filter_loader = LoadComposableNodes(
composable_node_descriptions=[dual_return_filter_component],
target_container=container,
condition=LaunchConfigurationEquals("return_mode", "Dual"),
condition=launch.conditions.IfCondition(LaunchConfiguration("use_dual_return_filter")),
)

blockage_diag_loader = LoadComposableNodes(
Expand Down Expand Up @@ -335,6 +333,7 @@ def add_launch_arg(name: str, default_value=None, description=None):

add_launch_arg("calibration_file", "")
add_launch_arg("output_as_sensor_frame", "True", "output final pointcloud in sensor frame")
add_launch_arg("use_dual_return_filter", "false")

set_container_executable = SetLaunchConfiguration(
"container_executable",
Expand Down

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