feat(#211): Added parametrization

code/perception/launch/perception.launch

@@ -27,5 +27,13 @@
  <param name="self_diagnose" value="true"/>
  </node>
 
- <node pkg="perception" type="lidar_distance.py" name="lidar_distance" output="screen"></node>
+ <node pkg="perception" type="lidar_distance.py" name="lidar_distance" output="screen">
+ <param name="max_y" value="1.5"/>
+ <param name="min_y" value="-1.5"/>
+ <param name="min_x" value="2.5"/>
+ <param name="min_z" value="-1.5"/>
+ <param name="max_z" value="0"/>
+ <param name="point_cloud_topic" value="/carla/hero/LIDAR_filtered"/>
+ <param name="range_topic" value="/carla/hero/LIDAR_range"/>
+ </node>
 </launch>

code/perception/src/lidar_distance.py

@@ -7,14 +7,25 @@
 
 class LidarDistance():
 
- pub_pointcloud = rospy.Publisher('/carla/hero/LIDAR_filtered', PointCloud2)
- pub_range = rospy.Publisher('/carla/hero/LIDAR_range', Range)
-
  def callback(self, data):
+ """ Callback function to process PointCloud2 and publish a Range message
+ from the contained points and a PointCloud2
+
+ :param data:
+ :return:
+ """
  coordinates = ros_numpy.point_cloud2.pointcloud2_to_array(data)
 
  # https://stackoverflow.com/questions/44295375/how-to-slice-a-numpy-ndarray-made-up-of-numpy-void-numbers
- bit_mask = lidar_filter_utility.bounding_box(coordinates, max_x=1, min_x=-1, min_y=1, min_z=-1.5, max_z=0)
+ bit_mask = lidar_filter_utility.bounding_box(
+ coordinates,
+ max_x = rospy.get_param('~max_x', np.inf),
+ min_x= rospy.get_param('~min_x', np.inf),
+ max_y=rospy.get_param('~max_y', np.inf),
+ min_y=rospy.get_param('~min_y', np.inf),
+ max_z=rospy.get_param('~max_z', np.inf),
+ min_z=rospy.get_param('~min_z', np.inf),
+ )
 
  rospy.loginfo(len(coordinates))
  # Filter coordinates based in generated bit_mask
@@ -46,7 +57,12 @@ def listener(self):
  # anonymous=True flag means that rospy will choose a unique
  # name for our 'listener' node so that multiple listeners can
  # run simultaneously.
- rospy.init_node('lidar_distance', anonymous=True)
+ rospy.init_node('lidar_distance')
+
+ namespace = rospy.get_namespace()
+
+ self.pub_pointcloud = rospy.Publisher(rospy.get_param('~point_cloud_topic', '/carla/hero/' + rospy.get_namespace() + '_filtered'), PointCloud2)
+ self.pub_range = rospy.Publisher(rospy.get_param('~range_topic', '/carla/hero/' + rospy.get_namespace() + '_range'), Range)
 
  rospy.Subscriber("/carla/hero/LIDAR", PointCloud2, self.callback)