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chore: use radar_monitor instead of pe_ars408_ros
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@0x126
0x126 committed Sep 11, 2024
1 parent a29de52 commit facf2be
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Showing 2 changed files with 6 additions and 135 deletions.
20 changes: 6 additions & 14 deletions aip_x2_launch/launch/radar.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@

<group>
<push-ros-namespace namespace="front_center" />
<include file="$(find-pkg-share common_sensor_launch)/launch/ars408.launch.xml">
<include file="$(find-pkg-share radar_monitor)/launch/radar_monitor.launch.xml">
<arg name="interface" value="pcan2"/>
<arg name="output_frame" value="front_center/radar_link" />
<arg name="launch_driver" value="$(var launch_driver)" />
Expand All @@ -16,7 +16,7 @@

<group>
<push-ros-namespace namespace="front_left" />
<include file="$(find-pkg-share common_sensor_launch)/launch/ars408.launch.xml">
<include file="$(find-pkg-share radar_monitor)/launch/radar_monitor.launch.xml">
<arg name="interface" value="pcan3"/>
<arg name="output_frame" value="front_left/radar_link" />
<arg name="launch_driver" value="$(var launch_driver)" />
Expand All @@ -25,7 +25,7 @@

<group>
<push-ros-namespace namespace="rear_left" />
<include file="$(find-pkg-share common_sensor_launch)/launch/ars408.launch.xml">
<include file="$(find-pkg-share radar_monitor)/launch/radar_monitor.launch.xml">
<arg name="interface" value="pcan4"/>
<arg name="output_frame" value="rear_left/radar_link" />
<arg name="launch_driver" value="$(var launch_driver)" />
Expand All @@ -34,7 +34,7 @@

<group>
<push-ros-namespace namespace="rear_center" />
<include file="$(find-pkg-share common_sensor_launch)/launch/ars408.launch.xml">
<include file="$(find-pkg-share radar_monitor)/launch/radar_monitor.launch.xml">
<arg name="interface" value="pcan5"/>
<arg name="output_frame" value="rear_center/radar_link" />
<arg name="launch_driver" value="$(var launch_driver)" />
Expand All @@ -43,7 +43,7 @@

<group>
<push-ros-namespace namespace="rear_right" />
<include file="$(find-pkg-share common_sensor_launch)/launch/ars408.launch.xml">
<include file="$(find-pkg-share radar_monitor)/launch/radar_monitor.launch.xml">
<arg name="interface" value="pcan6"/>
<arg name="output_frame" value="rear_right/radar_link" />
<arg name="launch_driver" value="$(var launch_driver)" />
Expand All @@ -52,20 +52,12 @@

<group>
<push-ros-namespace namespace="front_right" />
<include file="$(find-pkg-share common_sensor_launch)/launch/ars408.launch.xml">
<include file="$(find-pkg-share radar_monitor)/launch/radar_monitor.launch.xml">
<arg name="interface" value="pcan7"/>
<arg name="output_frame" value="front_right/radar_link" />
<arg name="launch_driver" value="$(var launch_driver)" />
</include>
</group>

<include file="$(find-pkg-share simple_object_merger)/launch/simple_object_merger.launch.xml">
<arg name="output/objects" value="detected_objects"/>
<arg name="update_rate_hz" value="20.0"/>
<arg name="new_frame_id" value="base_link"/>
<arg name="timeout_threshold" value="1.0"/>
<arg name="input_topics" value="[/sensing/radar/front_center/detected_objects, /sensing/radar/front_left/detected_objects, /sensing/radar/rear_left/detected_objects, /sensing/radar/rear_center/detected_objects, /sensing/radar/rear_right/detected_objects, /sensing/radar/front_right/detected_objects]"/>
</include>

</group>
</launch>
121 changes: 0 additions & 121 deletions aip_x2_launch/launch/topic_state_monitor.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -58,121 +58,6 @@ def generate_launch_description():
extra_arguments=[{"use_intra_process_comms": True}],
)

# Radar topic monitors
radar_front_center_monitor = ComposableNode(
package="topic_state_monitor",
plugin="topic_state_monitor::TopicStateMonitorNode",
name="topic_state_monitor_radar_front_center",
parameters=[
{
"topic": "/sensing/radar/front_center/objects_raw",
"topic_type": "radar_msgs/msg/RadarTracks",
"best_effort": True,
"diag_name": "radar_front_center_topic_status",
"warn_rate": 5.0,
"error_rate": 1.0,
"timeout": 5.0,
"window_size": 10,
}
],
extra_arguments=[{"use_intra_process_comms": True}],
)

radar_front_left_monitor = ComposableNode(
package="topic_state_monitor",
plugin="topic_state_monitor::TopicStateMonitorNode",
name="topic_state_monitor_radar_front_left",
parameters=[
{
"topic": "/sensing/radar/front_left/objects_raw",
"topic_type": "radar_msgs/msg/RadarTracks",
"best_effort": True,
"diag_name": "radar_front_left_topic_status",
"warn_rate": 5.0,
"error_rate": 1.0,
"timeout": 5.0,
"window_size": 10,
}
],
extra_arguments=[{"use_intra_process_comms": True}],
)

radar_front_right_monitor = ComposableNode(
package="topic_state_monitor",
plugin="topic_state_monitor::TopicStateMonitorNode",
name="topic_state_monitor_radar_front_right",
parameters=[
{
"topic": "/sensing/radar/front_right/objects_raw",
"topic_type": "radar_msgs/msg/RadarTracks",
"best_effort": True,
"diag_name": "radar_front_right_topic_status",
"warn_rate": 5.0,
"error_rate": 1.0,
"timeout": 5.0,
"window_size": 10,
}
],
extra_arguments=[{"use_intra_process_comms": True}],
)

radar_rear_center_monitor = ComposableNode(
package="topic_state_monitor",
plugin="topic_state_monitor::TopicStateMonitorNode",
name="topic_state_monitor_radar_rear_center",
parameters=[
{
"topic": "/sensing/radar/rear_center/objects_raw",
"topic_type": "radar_msgs/msg/RadarTracks",
"best_effort": True,
"diag_name": "radar_rear_center_topic_status",
"warn_rate": 5.0,
"error_rate": 1.0,
"timeout": 5.0,
"window_size": 10,
}
],
extra_arguments=[{"use_intra_process_comms": True}],
)

radar_rear_left_monitor = ComposableNode(
package="topic_state_monitor",
plugin="topic_state_monitor::TopicStateMonitorNode",
name="topic_state_monitor_radar_rear_left",
parameters=[
{
"topic": "/sensing/radar/rear_left/objects_raw",
"topic_type": "radar_msgs/msg/RadarTracks",
"best_effort": True,
"diag_name": "radar_rear_left_topic_status",
"warn_rate": 5.0,
"error_rate": 1.0,
"timeout": 5.0,
"window_size": 10,
}
],
extra_arguments=[{"use_intra_process_comms": True}],
)

radar_rear_right_monitor = ComposableNode(
package="topic_state_monitor",
plugin="topic_state_monitor::TopicStateMonitorNode",
name="topic_state_monitor_radar_rear_right",
parameters=[
{
"topic": "/sensing/radar/rear_right/objects_raw",
"topic_type": "radar_msgs/msg/RadarTracks",
"best_effort": True,
"diag_name": "radar_rear_right_topic_status",
"warn_rate": 5.0,
"error_rate": 1.0,
"timeout": 5.0,
"window_size": 10,
}
],
extra_arguments=[{"use_intra_process_comms": True}],
)

# ComposableNodeContainer to run all ComposableNodes
container = ComposableNodeContainer(
name="topic_state_monitor_container",
Expand All @@ -182,12 +67,6 @@ def generate_launch_description():
composable_node_descriptions=[
gnss_topic_monitor,
imu_topic_monitor,
radar_front_center_monitor,
radar_front_left_monitor,
radar_front_right_monitor,
radar_rear_center_monitor,
radar_rear_left_monitor,
radar_rear_right_monitor,
],
output="screen",
)
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