added launch and config file for using point_cloud_fusion_node + point_type_adapter #21
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…point step provided by the lidar driver
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AutowareAuto/src/common/autoware_auto_common/include/common/types.hpp
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… using point_type_adapter to convert ROS2 messages to PointXYZI
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…composable node container
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PR Details
Description
This PR adds a new launch and config file for launching the point_type_adapter and point_cloud_fusion_node, Autoware.Auto's ROS2 version of the points_concat_filter package in Autoware.AI. This is configured to fuse the point clouds from the two LiDAR sensors onboard the CARMA freight trucks.
Related PRs:
Related Jira Key
CAR-5961
Motivation and Context
Currently, freightliner trucks equipped with CARMA Platform have two velodyne lidars (compared to the single velodyne lidar on our passenger vehicles equipped with CARMA Platform), and the autoware.ai ‘points_concat_filter’ node (a ROS 1 Noetic node) is used to concatenate these two point clouds into a single point cloud to be used by the rest of the system. As part of the overall migration from ROS 1 Noetic to ROS 2 Foxy for CARMA Platform, the system should leverage the ROS 2 Foxy version of this node made available in Autoware.Auto.
How Has This Been Tested?
This was tested by launching CARMA Platform on the freight truck and verifying that
point_cloud_fusion_nodesfused the scans from the two velodyne sensors and published the result with the correct topic name and frame id.Types of changes
Checklist: