modify util.launch in localization_launch autowarefoundation#396

localization_launch/config/crop_box_filter_measurement_range.param.yaml

@@ -0,0 +1,11 @@
+/**:
+  ros__parameters:
+    input_frame: "base_link"
+    output_frame: "base_link"
+    min_x: -60.0
+    max_x: 60.0
+    min_y: -60.0
+    max_y: 60.0
+    min_z: -30.0
+    max_z: 50.0
+    negative: False

localization_launch/config/random_downsample_filter.param.yaml

@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    sample_num: 1500

localization_launch/config/voxel_grid_filter.param.yaml

@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    voxel_size_x: 3.0
+    voxel_size_y: 3.0
+    voxel_size_z: 3.0

localization_launch/launch/util/util.launch.py

@@ -13,13 +13,22 @@
 # limitations under the License.
 
 import launch
+from launch.actions import DeclareLaunchArgument
+from launch.actions import OpaqueFunction
 from launch.conditions import LaunchConfigurationNotEquals
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import LoadComposableNodes
 from launch_ros.descriptions import ComposableNode
+from launch_ros.substitutions import FindPackageShare
+import yaml
 
 
-def generate_launch_description():
+def launch_setup(context, *args, **kwargs):
+    # https://github.com/ros2/launch_ros/issues/156
+    def load_composable_node_param(param_path):
+        with open(LaunchConfiguration(param_path).perform(context), 'r') as f:
+            return yaml.safe_load(f)['/**']['ros__parameters']
+
     crop_box_component = ComposableNode(
         package='pointcloud_preprocessor',
         plugin='pointcloud_preprocessor::CropBoxFilterComponent',
@@ -29,17 +38,9 @@ def generate_launch_description():
             ('output',
              LaunchConfiguration('output_measurement_range_sensor_points_topic')),
         ],
-        parameters=[{
-            'input_frame': LaunchConfiguration('base_frame'),
-            'output_frame': LaunchConfiguration('base_frame'),
-            'min_x': -60.0,
-            'max_x': 60.0,
-            'min_y': -60.0,
-            'max_y': 60.0,
-            'min_z': -30.0,
-            'max_z': 50.0,
-            'negative': False,
-        }],
+        parameters=[
+            load_composable_node_param('crop_box_filter_measurement_range_param_path'),
+        ],
         extra_arguments=[{
             'use_intra_process_comms': LaunchConfiguration('use_intra_process')
         }],
@@ -54,11 +55,7 @@ def generate_launch_description():
             ('output',
              LaunchConfiguration('output_voxel_grid_downsample_sensor_points_topic')),
         ],
-        parameters=[{
-            'voxel_size_x': 3.0,
-            'voxel_size_y': 3.0,
-            'voxel_size_z': 3.0,
-        }],
+        parameters=[load_composable_node_param('voxel_grid_downsample_filter_param_path')],
         extra_arguments=[{
             'use_intra_process_comms': LaunchConfiguration('use_intra_process')
         }],
@@ -73,9 +70,9 @@ def generate_launch_description():
             ('output',
              LaunchConfiguration('output_downsample_sensor_points_topic')),
         ],
-        parameters=[{
-            'sample_num': 1500,
-        }],
+        parameters=[
+            load_composable_node_param('random_downsample_filter_param_path')
+        ],
         extra_arguments=[{
             'use_intra_process_comms': LaunchConfiguration('use_intra_process')
         }],
@@ -90,4 +87,71 @@ def generate_launch_description():
         composable_node_descriptions=composable_nodes,
         target_container=LaunchConfiguration('container'),
     )
-    return launch.LaunchDescription([load_composable_nodes])
+
+    return [load_composable_nodes]
+
+
+def generate_launch_description():
+    launch_arguments = []
+
+    def add_launch_arg(name: str, default_value=None, description=None):
+        arg = DeclareLaunchArgument(name, default_value=default_value, description=description)
+        launch_arguments.append(arg)
+
+    add_launch_arg(
+        'crop_box_filter_measurement_range_param_path',
+        [
+            FindPackageShare('localization_launch'),
+            '/config/crop_box_filter_measurement_range.param.yaml'
+        ],
+        'path to the parameter file of crop_box_filter_measurement_range'
+    )
+    add_launch_arg(
+        'voxel_grid_downsample_filter_param_path',
+        [
+            FindPackageShare('localization_launch'),
+            '/config/voxel_grid_filter.param.yaml'
+        ],
+        'path to the parameter file of voxel_grid_downsample_filter'
+    )
+    add_launch_arg(
+        'random_downsample_filter_param_path',
+        [
+            FindPackageShare('localization_launch'),
+            '/config/random_downsample_filter.param.yaml'
+        ],
+        'path to the parameter file of random_downsample_filter'
+    )
+    add_launch_arg('use_intra_process', 'true', 'use ROS2 component container communication')
+    add_launch_arg(
+        'container',
+        '/sensing/lidar/top/pointcloud_preprocessor/velodyne_node_container',
+        'container name'
+    )
+    add_launch_arg(
+        'input_sensor_points_topic',
+        '/sensing/lidar/top/rectified/pointcloud',
+        'input topic name for raw pointcloud'
+    )
+    add_launch_arg(
+        'output_measurement_range_sensor_points_topic',
+        'measurement_range/pointcloud',
+        'output topic name for crop box filter'
+    )
+    add_launch_arg(
+        'output_voxel_grid_downsample_sensor_points_topic',
+        'voxel_grid_downsample/pointcloud',
+        'output topic name for voxel grid downsample filter'
+    )
+    add_launch_arg(
+        'output_downsample_sensor_points_topic',
+        'downsample/pointcloud',
+        'output topic name for downsample filter. this is final output'
+    )
+
+    return launch.LaunchDescription(
+        launch_arguments +
+        [
+            OpaqueFunction(function=launch_setup)
+        ]
+    )

localization_launch/launch/util/util.launch.xml

@@ -7,9 +7,6 @@
   <arg name="output_voxel_grid_downsample_sensor_points_topic" default="voxel_grid_downsample/pointcloud" description="output topic name for voxel grid downsample filter"/>
   <arg name="output_downsample_sensor_points_topic" default="downsample/pointcloud" description="output topic name for downsample filter. this is final output"/>
 
-  <!-- frame_ids -->
-  <arg name="base_frame" default="base_link" description="Vehicle reference frame, for processing crop_box" />
-
   <!-- container -->
   <arg name="container" default="/sensing/lidar/top/pointcloud_preprocessor/velodyne_node_container"  description="container name"/>