Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Add cropbox launch args #8

Open
wants to merge 4 commits into
base: nobleo-main
Choose a base branch
from
Open

Add cropbox launch args #8

wants to merge 4 commits into from

Conversation

jcomartins
Copy link

Description

  • The goal is to add the cropbox filter limits as input parameters.

How was this PR tested?

  • After the test, the launch file in .xml behaved as expected.
  • The cropbox size changes with the input arguments.

Screenshot from 2024-11-08 10-03-31

ROS Parameter Changes

Additions and removals

Change type Parameter Name Type Default Value Description
Added min_x double -3.0 Crop Box Limit Min in X
Added max_x double 3.0 Crop Box Limit Max in X
Added min_y double -2.0 Crop Box Limit Min in Y
Added max_y double 3.0 Crop Box Limit Max in Y
Added min_z double 0.0 Crop Box Limit Min in Z
Added max_z double 2.5 Crop Box Limit Max in Z
Added negative bool true Crop zone: false->remove outside

Effects on system behavior

None.

@jcomartins
Copy link
Author

@Timple and Mukunda

mbharatheesha
mbharatheesha requested changes Nov 28, 2024
View reviewed changes
Copy link

@mbharatheesha mbharatheesha left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Btw, it seems they have refactored the preprocessor.launch.py to actually accept cropbox arguments via config files. So, I think you could also follow the same philosophy here instead of separate parameters like you have now.

sensing/autoware_pointcloud_preprocessor/launch/preprocessor.launch.xml Outdated
<arg name="output_points_raw" default="/points_raw/cropbox/filtered" description=""/>
<arg name="tf_output_frame" default="base_link" description=""/>
<arg name="separate_concatenate_node_and_time_sync_node" default="true" description=""/>
<arg name="use_multiple_inputs" default="false" description="Set true if using multiple input topics." />
Copy link

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Unused argument.

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Reviewers

@mbharatheesha mbharatheesha mbharatheesha requested changes

Assignees
No one assigned
Labels
None yet
Projects
None yet
Milestone
No milestone
Development

Successfully merging this pull request may close these issues.
2 participants
@jcomartins @mbharatheesha