autowarefoundation/sample_sensor_kit_launch

sample_sensor_kit_launch

sample_sensor_kit_launch's Issues

Create sensor description for ITRI Bus

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I've agreed with the maintainers that I can plan this task.

Description

Create sensor description of ITRI Bus for simulation.

Purpose

Sensor configuration is needed to drive ITRI bus in a simulator.

Possible approaches

Create sensor_description and sensor_launch package for ITRI

Definition of done

• create sensors.xacro for ITRI bus
• create sensing.launch.xml (or sensing.launch.py) for ITRI bus

In sample `velodyne_node_container.launch.py` the crop box filters should come after cloud rectification

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I'm convinced that this is not my fault but a bug.

Description

I think the order of components in the velodyne_node_container.launch.py node is wrong. Currently, it is:

1. convert velodyne -> pointcloud
2. filter out vehicle and mirror with crop box
3. correct cloud distortion
4. filter out noise/rain

So the crop box filtering is done on the unrectified (distorted) pointcloud. It seems more logical that any correction on the cloud should be made first:

1. convert velodyne -> pointcloud
2. correct cloud distortion
3. filter out vehicle and mirror with crop box
4. filter out noise/rain

Expected behavior

crop box filter should process rectified cloud

Actual behavior

crop box filter process a distorted cloud

Steps to reproduce

N/A

Versions

No response

Possible causes

No response

Additional context

No response

`use_concat_filter:=false` is not supported

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I'm convinced that this is not my fault but a bug.

Description

The lidar preprocessing pipeline is broken if use_concat_filter is set to false. In the preprocessor launch file, it is suggested that if the concatenate filter is not used then a passthrough filter is launch. However it is not the case:

sample_sensor_kit_launch/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py

Lines 68 to 73 in 417f7ce

	# load concat or passthrough filter
	concat_loader = LoadComposableNodes(
	composable_node_descriptions=[concat_component],
	target_container=target_container,
	condition=IfCondition(LaunchConfiguration("use_concat_filter")),
	)

This would leave the lidar pipeline broken, has /sensing/lidar/top/outlier_filtered/pointcloud messages are not forwarded to /sensing/lidar/concatenated/pointcloud (which is hardcoded everywhere in other autoware modules).

Either a passthrough should be added, or the option should rather be removed?

Expected behavior

Since use_concat_filter is an option, we should be able to use it.

Actual behavior

use_concat_filter:=false does not work.

Steps to reproduce

N/A

Versions

No response

Possible causes

No response

Additional context

No response

missing dependency of nebula_sensor_driver

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I'm convinced that this is not my fault but a bug.

Description

nebula_sensor_driver is a dependency, but rosdep can't find it.

Expected behavior

When running rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO, rosdep can install all dependencies

Actual behavior

ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
common_sensor_launch: Cannot locate rosdep definition for [nebula_sensor_driver]

Steps to reproduce

rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO

Versions

ubuntu 22
humble

autoware git main branch

Possible causes

No response

Additional context

No response