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chore: sync awf-latest #1847

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Feb 19, 2025
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Merged

chore: sync awf-latest #1847

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1 change: 1 addition & 0 deletions sensing/autoware_radar_scan_to_pointcloud2/config/radar_scan_to_pointcloud2.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -2,3 +2,4 @@
ros__parameters:
publish_amplitude_pointcloud: true
publish_doppler_pointcloud: false
max_queue_size: 5
8 changes: 7 additions & 1 deletion sensing/autoware_radar_scan_to_pointcloud2/schema/radar_scan_to_pointcloud2.schema.json
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Expand Up @@ -15,9 +15,15 @@
"type": "boolean",
"description": "Whether publish radar pointcloud whose intensity is doppler velocity.",
"default": "false"
},
"max_queue_size": {
"type": "integer",
"default": "5",
"minimum": 1,
"description": "Max queue size of input/output topics."
}
},
"required": ["publish_amplitude_pointcloud", "publish_doppler_pointcloud"]
"required": ["publish_amplitude_pointcloud", "publish_doppler_pointcloud", "max_queue_size"]
}
},
"properties": {
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15 changes: 10 additions & 5 deletions sensing/autoware_radar_scan_to_pointcloud2/src/radar_scan_to_pointcloud2_node.cpp
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Expand Up @@ -106,19 +106,23 @@ RadarScanToPointcloud2Node::RadarScanToPointcloud2Node(const rclcpp::NodeOptions
node_param_.publish_amplitude_pointcloud =
declare_parameter<bool>("publish_amplitude_pointcloud");
node_param_.publish_doppler_pointcloud = declare_parameter<bool>("publish_doppler_pointcloud");
node_param_.max_queue_size = declare_parameter<int64_t>("max_queue_size");

// Subscriber
sub_radar_ = create_subscription<RadarScan>(
"~/input/radar", rclcpp::QoS{1}, std::bind(&RadarScanToPointcloud2Node::onData, this, _1));
"~/input/radar", rclcpp::SensorDataQoS().keep_last(node_param_.max_queue_size),
std::bind(&RadarScanToPointcloud2Node::onData, this, _1));

{
rclcpp::PublisherOptions pub_options;
pub_options.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies();
// Publisher
pub_amplitude_pointcloud_ =
create_publisher<PointCloud2>("~/output/amplitude_pointcloud", 1, pub_options);
pub_doppler_pointcloud_ =
create_publisher<PointCloud2>("~/output/doppler_pointcloud", 1, pub_options);
pub_amplitude_pointcloud_ = create_publisher<PointCloud2>(
"~/output/amplitude_pointcloud",
rclcpp::SensorDataQoS().keep_last(node_param_.max_queue_size), pub_options);
pub_doppler_pointcloud_ = create_publisher<PointCloud2>(
"~/output/doppler_pointcloud", rclcpp::SensorDataQoS().keep_last(node_param_.max_queue_size),
pub_options);
}
}

Expand All @@ -131,6 +135,7 @@ rcl_interfaces::msg::SetParametersResult RadarScanToPointcloud2Node::onSetParam(
auto & p = node_param_;
update_param(params, "publish_amplitude_pointcloud", p.publish_amplitude_pointcloud);
update_param(params, "publish_doppler_pointcloud", p.publish_doppler_pointcloud);
update_param(params, "max_queue_size", p.max_queue_size);
} catch (const rclcpp::exceptions::InvalidParameterTypeException & e) {
result.successful = false;
result.reason = e.what();
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1 change: 1 addition & 0 deletions sensing/autoware_radar_scan_to_pointcloud2/src/radar_scan_to_pointcloud2_node.hpp
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Expand Up @@ -39,6 +39,7 @@ class RadarScanToPointcloud2Node : public rclcpp::Node
{
bool publish_amplitude_pointcloud{};
bool publish_doppler_pointcloud{};
size_t max_queue_size{};
};

private:
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