From 2979e28a6824166989cff8c3a40e781430b56edb Mon Sep 17 00:00:00 2001 From: jpntaxi2 Date: Thu, 6 Feb 2025 09:27:28 +0900 Subject: [PATCH 1/3] now it can launch --- .../launch/nebula_node_container.launch.py | 63 ++++++------------- 1 file changed, 20 insertions(+), 43 deletions(-) diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py index 0c7d1ce3..4576c420 100644 --- a/common_sensor_launch/launch/nebula_node_container.launch.py +++ b/common_sensor_launch/launch/nebula_node_container.launch.py @@ -127,19 +127,26 @@ def create_parameter_dict(*args): **create_parameter_dict( "host_ip", "sensor_ip", + "multicast_ip", + "advanced_diagnostics", "data_port", - "gnss_port", "return_mode", "min_range", "max_range", "frame_id", "scan_phase", - "cloud_min_angle", - "cloud_max_angle", "dual_return_distance_threshold", "rotation_speed", + "cloud_min_angle", + "cloud_max_angle", + "gnss_port", "packet_mtu_size", "setup_sensor", + "ptp_profile", + "ptp_transport_type", + "ptp_switch_type", + "ptp_domain", + "diag_span", ), }, ], @@ -247,39 +254,6 @@ def create_parameter_dict(*args): output="both", ) - driver_component = ComposableNode( - package="nebula_ros", - plugin=sensor_make + "HwInterfaceRosWrapper", - # node is created in a global context, need to avoid name clash - name=sensor_make.lower() + "_hw_interface_ros_wrapper_node", - parameters=[ - { - "sensor_model": sensor_model, - "calibration_file": sensor_calib_fp, - **create_parameter_dict( - "sensor_ip", - "host_ip", - "scan_phase", - "return_mode", - "frame_id", - "rotation_speed", - "data_port", - "gnss_port", - "cloud_min_angle", - "cloud_max_angle", - "packet_mtu_size", - "dual_return_distance_threshold", - "setup_sensor", - "ptp_profile", - "ptp_transport_type", - "ptp_switch_type", - "ptp_domain", - "retry_hw", - ), - } - ], - ) - blockage_diag_component = ComposableNode( package="autoware_pointcloud_preprocessor", plugin="autoware::pointcloud_preprocessor::BlockageDiagComponent", @@ -305,18 +279,13 @@ def create_parameter_dict(*args): extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], ) - driver_component_loader = LoadComposableNodes( - composable_node_descriptions=[driver_component], - target_container=container, - condition=IfCondition(LaunchConfiguration("launch_driver")), - ) blockage_diag_loader = LoadComposableNodes( composable_node_descriptions=[blockage_diag_component], target_container=container, condition=IfCondition(LaunchConfiguration("enable_blockage_diag")), ) - return [container, driver_component_loader, blockage_diag_loader] + return [container, blockage_diag_loader] def generate_launch_description(): @@ -336,8 +305,14 @@ def add_launch_arg(name: str, default_value=None, description=None): add_launch_arg("setup_sensor", "True", "configure sensor") add_launch_arg("retry_hw", "false", "retry hw") add_launch_arg("sensor_ip", "192.168.1.201", "device ip address") + add_launch_arg( + "multicast_ip", + "", + "the multicast group the sensor shall broadcast to. leave empty to disable multicast", + ) add_launch_arg("host_ip", "255.255.255.255", "host ip address") - add_launch_arg("scan_phase", "0.0") + add_launch_arg("sync_angle", "0") + add_launch_arg("cut_angle", "0.0") add_launch_arg("base_frame", "base_link", "base frame id") add_launch_arg("min_range", "0.3", "minimum view range for Velodyne sensors") add_launch_arg("max_range", "300.0", "maximum view range for Velodyne sensors") @@ -351,6 +326,8 @@ def add_launch_arg(name: str, default_value=None, description=None): add_launch_arg("frame_id", "lidar", "frame id") add_launch_arg("input_frame", LaunchConfiguration("base_frame"), "use for cropbox") add_launch_arg("output_frame", LaunchConfiguration("base_frame"), "use for cropbox") + add_launch_arg("diag_span", "1000") + add_launch_arg("advanced_diagnostics", "false") add_launch_arg("use_multithread", "False", "use multithread") add_launch_arg("use_intra_process", "False", "use ROS 2 component container communication") add_launch_arg("lidar_container_name", "nebula_node_container") From a0957f9aeebd730c633409eb9f7f16c9ea922a76 Mon Sep 17 00:00:00 2001 From: Shintaro Sakoda Date: Mon, 10 Feb 2025 17:53:35 +0900 Subject: [PATCH 2/3] Fixed to run lidar driver Signed-off-by: Shintaro Sakoda --- aip_xx1_launch/launch/lidar.launch.xml | 7 ++++++- aip_xx1_launch/launch/sensing.launch.xml | 4 +++- 2 files changed, 9 insertions(+), 2 deletions(-) diff --git a/aip_xx1_launch/launch/lidar.launch.xml b/aip_xx1_launch/launch/lidar.launch.xml index 3a628503..693c5e25 100644 --- a/aip_xx1_launch/launch/lidar.launch.xml +++ b/aip_xx1_launch/launch/lidar.launch.xml @@ -3,10 +3,11 @@ - + + @@ -21,6 +22,7 @@ + @@ -43,6 +45,7 @@ + @@ -65,6 +68,7 @@ + @@ -87,6 +91,7 @@ + diff --git a/aip_xx1_launch/launch/sensing.launch.xml b/aip_xx1_launch/launch/sensing.launch.xml index c2e659a0..853eff63 100644 --- a/aip_xx1_launch/launch/sensing.launch.xml +++ b/aip_xx1_launch/launch/sensing.launch.xml @@ -4,7 +4,8 @@ - + + @@ -13,6 +14,7 @@ + From 40819ad1927e4b229fcc74dbc944ac9c8b01ad17 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Mon, 10 Feb 2025 09:07:11 +0000 Subject: [PATCH 3/3] ci(pre-commit): autofix --- common_sensor_launch/launch/nebula_node_container.launch.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py index a1ca7949..6b0a5821 100644 --- a/common_sensor_launch/launch/nebula_node_container.launch.py +++ b/common_sensor_launch/launch/nebula_node_container.launch.py @@ -286,7 +286,7 @@ def create_parameter_dict(*args): condition=IfCondition(LaunchConfiguration("enable_blockage_diag")), ) - return [container, blockage_diag_loader] + return [container, blockage_diag_loader] def generate_launch_description():