mkz_hesai_lidar.launch 변경 및 개선 사항

Contents

• 역할
• Architecture
• 변경 및 개선 사항

역할

• LiDAR 포인트에 대해서 전처리하는 부분

Architecture

변경 및 개선 사항

1. LiDAR top only use
   • Original Top, left, right concat filter
   • Ours 삭제
2. 자차에 찍히는 포인트 제거
   • Original None
   • Ours Crop box filter self 추가

     <param name="min_x" value="-2.3300" />
     <param name="max_x" value="2.540" />
     <param name="min_y" value="-0.915" />
     <param name="max_y" value="0.915" />
     <param name="~min_z" value="-1.8" />
     <param name="~max_z" value="0.2" />
     <param name="input_frame" value="velodyne_top" />
     <param name="output_frame" value="base_link" />

3. Crop box filter의 파라미터 및 토픽 명 변경
   • Original

     <remap from="~input" to="concatenated/pointcloud" />
     <remap from="~output" to="mesurement_range_cropped/pointcloud" />
     <param name="min_x" value="-50.0" />
     <param name="max_x" value="100.0" />
     <param name="min_y" value="-50.0" />
     <param name="max_y" value="50.0" />
     <remap from="~min_z" to="/vehicle_info/min_height_offset" />
     <remap from="~max_z" to="/vehicle_info/max_height_offset" />

     • Ours

       <remap from="~input" to="/sensing/lidar/pointcloud" />
       <remap from="~output" to="mesurement_range_cropped/pointcloud" />
       <param name="min_x" value="-25.0" />
       <param name="max_x" value="150.0" />
       <param name="min_y" value="-25.0" />
       <param name="max_y" value="25.0" />
       <param name="~min_z" value="-1.8" />
       <param name="~max_z" value="1.8" />

4. Planning 파트에서 포인트를 활용할 때 부하를 줄이기 위해 다운샘플링 적용
   • Originals None
   • Ours Down sampling 추가

     <!-- down sampling-->
     <node pkg="nodelet" type="nodelet" name="voxel_grid_filter" args="load pointcloud_preprocessor/voxel_grid_downsample_filter_nodelet $(arg manager)" output="screen">
     <remap from="~input" to="mesurement_range_cropped/pointcloud" />
     <remap from="~output" to="voxel_grid_filtered/pointcloud" />
     <rosparam>
     	filter_field_name: z
     	filter_limit_min: 0.1
     	filter_limit_max: 2.5
     	filter_limit_negative: False
     	leaf_size: 0.03
     	input_frame: base_link
     	output_frame: base_link
     </rosparam>
     </node>

5. KIAPI PointCloud Ground Filter
   • Originals None
   • Ours

     <!-- KIAPI PointCloud Ground Filter -->
     <node pkg="nodelet" type="nodelet" name="ray_ground_filter" args="load pointcloud_preprocessor/ray_ground_filter_nodelet $(arg manager) " output="screen">
     <remap from="~input" to="voxel_grid_filtered/pointcloud" />
     <remap from="~output" to="no_ground/pointcloud_nuvo" />
     <!--<remap from="~removal_outlier" to="no_ground/statistical_cloud" /> -->
     <!--<remap from="~removal_ground" to="no_ground/ground_cloud" /> -->
     <param name="general_max_slope" value="15.0" />
     <param name="local_max_slope" value="25.0" />
     <param name="min_height_threshold" value="0.2" />
     </node>