fix(ground_segmentation): add param for grid scan_ground_filter (#509)

* fix: add param for grid scan_ground_filter Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: unify parameters as universe launch Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix search package name Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> Co-authored-by: Shunsuke Miura <shunsuke.miura@tier4.jp> Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com>
tier4 · Oct 14, 2022 · e13997e · e13997e
1 parent 52e7e8d
commit e13997e
Show file tree

Hide file tree

Showing 2 changed files with 19 additions and 9 deletions.
diff --git a/...on_launch/config/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml b/...on_launch/config/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml
@@ -11,13 +11,21 @@
         max_x: 100.0
         min_y: -50.0
         max_y: 50.0
+        max_z: 10.7  # recommended 2.5 for non elevation_grid_mode
+        min_z: -8.7 # recommended 0.0 for non elevation_grid_mode
         negative: False
 
     common_ground_filter:
       plugin: "ground_segmentation::ScanGroundFilterComponent"
       parameters:
         global_slope_max_angle_deg: 10.0
-        local_slope_max_angle_deg: 30.0
+        local_slope_max_angle_deg: 13.0 # recommended 30.0 for non elevation_grid_mode
         split_points_distance_tolerance: 0.2
+        use_virtual_ground_point: True
         split_height_distance: 0.2
-        use_virtual_ground_point: False
+        non_ground_height_threshold: 0.20
+        grid_size_m: 0.1
+        grid_mode_switch_radius: 20.0
+        gnd_grid_buffer_size: 4
+        detection_range_z_max: 2.5
+        elevation_grid_mode: true
diff --git a/...ion_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py b/...ion_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py
@@ -85,8 +85,6 @@ def create_additional_pipeline(self, lidar_name):
                     {
                         "input_frame": LaunchConfiguration("base_frame"),
                         "output_frame": LaunchConfiguration("base_frame"),
-                        "min_z": self.vehicle_info["min_height_offset"],
-                        "max_z": self.vehicle_info["max_height_offset"],
                     },
                     self.ground_segmentation_param[f"{lidar_name}_crop_box_filter"]["parameters"],
                 ],
@@ -219,8 +217,6 @@ def create_common_pipeline(self, input_topic, output_topic):
                     {
                         "input_frame": LaunchConfiguration("base_frame"),
                         "output_frame": LaunchConfiguration("base_frame"),
-                        "min_z": self.vehicle_info["min_height_offset"],
-                        "max_z": self.vehicle_info["max_height_offset"],
                     },
                     self.ground_segmentation_param["common_crop_box_filter"]["parameters"],
                 ],
@@ -239,7 +235,12 @@ def create_common_pipeline(self, input_topic, output_topic):
                     ("input", "range_cropped/pointcloud"),
                     ("output", output_topic),
                 ],
-                parameters=[self.ground_segmentation_param["common_ground_filter"]["parameters"]],
+                parameters=[
+                    self.ground_segmentation_param["common_ground_filter"]["parameters"],
+                    self.vehicle_info,
+                    {"input_frame": "base_link"},
+                    {"output_frame": "base_link"},
+                ],
                 extra_arguments=[
                     {"use_intra_process_comms": LaunchConfiguration("use_intra_process")}
                 ],
@@ -268,7 +269,7 @@ def create_single_frame_obstacle_segmentation_components(self, input_topic, outp
             components.append(
                 self.get_additional_lidars_concatenated_component(
                     input_topics=[common_pipeline_output]
-                    + [f"{x}/pointcloud" for x in additional_lidars],
+                    + list(map(lambda x: f"{x}/pointcloud"), additional_lidars),
                     output_topic=relay_topic if use_ransac else output_topic,
                 )
             )
@@ -476,6 +477,7 @@ def launch_setup(context, *args, **kwargs):
                 output_topic=relay_topic
                 if pipeline.use_time_series_filter
                 else pipeline.output_topic,
+                context=context,
             )
         )
     if pipeline.use_time_series_filter:
@@ -516,7 +518,7 @@ def add_launch_arg(name: str, default_value=None):
     add_launch_arg("use_intra_process", "True")
     add_launch_arg("use_pointcloud_container", "False")
     add_launch_arg("container_name", "perception_pipeline_container")
-    add_launch_arg("input/pointcloud", "sensing/lidar/concatenated/pointcloud")
+    add_launch_arg("input/pointcloud", "/sensing/lidar/concatenated/pointcloud")
 
     set_container_executable = SetLaunchConfiguration(
         "container_executable",