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Add cropbox launch args #8

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Add cropbox launch args #8

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@jcomartins jcomartins commented Nov 28, 2024

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.

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jcomartins commented Nov 28, 2024

@Timple and Mukunda

mbharatheesha
mbharatheesha requested changes Nov 28, 2024
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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sensing/autoware_pointcloud_preprocessor/launch/preprocessor.launch.xml Outdated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." />
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Unused argument.

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