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fix: move image decompressor node and update launch arguments for com… #252

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fix: move image decompressor node and update launch arguments for com… #252

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61b2883
fix: move image decompressor node and update launch arguments for com…
0x126 May 16, 2025
48f2f4f
ci(pre-commit): autofix
pre-commit-ci[bot] May 16, 2025
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14 changes: 13 additions & 1 deletion calibrators/tag_based_pnp_calibrator/launch/apriltag_16h5.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -21,9 +21,21 @@ def add_launch_arg(name: str, default_value=None):
launch_arguments.append(DeclareLaunchArgument(name, default_value=default_value))

add_launch_arg("image_topic", "/camera/image")
add_launch_arg("image_compressed_topic", "/camera/image/compressed")
add_launch_arg("camera_info_topic", "/camera/camera_info")
add_launch_arg("apriltag_detections_topic", "apriltag/detection_array")

decompressor_node = ComposableNode(
package="autoware_image_transport_decompressor", # The package containing the component
plugin="autoware::image_preprocessor::ImageTransportDecompressor", # The registered plugin name
name="decompressor", # Node name within the container
remappings=[
("decompressor/input/compressed_image", LaunchConfiguration("image_compressed_topic")),
("decompressor/output/raw_image", LaunchConfiguration("image_topic")),
],
parameters=[{"encoding": "default"}],
)

composable_node = ComposableNode(
name="apriltag",
package="apriltag_ros",
Expand All @@ -42,7 +54,7 @@ def add_launch_arg(name: str, default_value=None):
namespace="apriltag",
package="rclcpp_components",
executable="component_container",
composable_node_descriptions=[composable_node],
composable_node_descriptions=[decompressor_node, composable_node],
output="screen",
)

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2 changes: 2 additions & 0 deletions calibrators/tag_based_pnp_calibrator/launch/calibrator.launch.xml
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Original file line number Diff line number Diff line change
@@ -1,5 +1,6 @@
<launch>
<arg name="image_topic" description="Raw image topic (currently we do not support rectified images)"/>
<arg name="image_compressed_topic" description="Compressed image topic"/>
<arg name="camera_info_topic"/>
<arg name="pointcloud_topic"/>
<arg name="base_frame" default="base_link"/>
Expand Down Expand Up @@ -37,6 +38,7 @@
<!-- apriltag detector -->
<include file="$(find-pkg-share tag_based_pnp_calibrator)/launch/apriltag_16h5.launch.py">
<arg name="image_topic" value="$(var image_topic)"/>
<arg name="image_compressed_topic" value="$(var image_compressed_topic)"/>
<arg name="camera_info_topic" value="$(var camera_info_topic)"/>
</include>

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10 changes: 1 addition & 9 deletions sensor_calibration_manager/launch/drs/tag_based_pnp_calibrator.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -46,17 +46,9 @@
<let name="use_rectified_image" value="false"/>

<group>
<!-- image decompressor -->
<node pkg="autoware_image_transport_decompressor" exec="image_transport_decompressor_node" name="decompressor" output="screen">
<remap from="decompressor/input/compressed_image" to="$(var image_compressed_topic)"/>
op
<remap from="decompressor/output/raw_image" to="$(var image_decompressed_topic)"/>

<param name="encoding" value="default"/>
</node>

<!-- tag based calibrator -->
<include file="$(find-pkg-share tag_based_pnp_calibrator)/launch/calibrator.launch.xml">
<arg name="image_compressed_topic" value="$(var image_compressed_topic)"/>
<arg name="image_topic" value="$(var image_decompressed_topic)"/>
<arg name="camera_info_topic" value="$(var camera_info_topic)"/>
<arg name="pointcloud_topic" value="$(var pointcloud_topic)"/>
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