fix(autoware_pointcloud_preprocessor): remove unused arg and unavaila…

…ble param file. (#9525) Remove unused arg and unavailable param file. Signed-off-by: Mukunda Bharatheesha <[email protected]>
autowarefoundation · Dec 2, 2024 · 421dcfc · 421dcfc
1 parent adb6101
commit 421dcfc
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diff --git a/sensing/autoware_pointcloud_preprocessor/launch/approximate_downsample_filter.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/approximate_downsample_filter.launch.xml
@@ -4,10 +4,8 @@
   <arg name="input_frame" default=""/>
   <arg name="output_frame" default=""/>
   <arg name="approximate_downsample_filter_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/approximate_downsample_filter_node.param.yaml"/>
-  <arg name="filter_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/filter.param.yaml"/>
   <node pkg="autoware_pointcloud_preprocessor" exec="approximate_downsample_filter_node" name="approximate_downsample_filter">
     <param from="$(var approximate_downsample_filter_param_file)"/>
-    <param from="$(var filter_param_file)"/>
     <remap from="input" to="$(var input_topic_name)"/>
     <remap from="output" to="$(var output_topic_name)"/>
     <param name="input_frame" value="$(var input_frame)"/>

diff --git a/sensing/autoware_pointcloud_preprocessor/launch/crop_box_filter_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/crop_box_filter_node.launch.xml
@@ -3,11 +3,9 @@
   <arg name="output_topic_name" default="/sensing/lidar/top/self_cropped/pointcloud_ex"/>
   <arg name="input_frame" default="base_link"/>
   <arg name="output_frame" default="base_link"/>
-  <arg name="filter_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/filter.param.yaml"/>
   <arg name="crop_box_filter_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/crop_box_filter_node.param.yaml"/>
   <node pkg="autoware_pointcloud_preprocessor" exec="crop_box_filter_node" name="crop_box_filter_node">
     <param from="$(var crop_box_filter_param_file)"/>
-    <param from="$(var filter_param_file)"/>
     <remap from="input" to="$(var input_topic_name)"/>
     <remap from="output" to="$(var output_topic_name)"/>
     <param name="input_frame" value="$(var input_frame)"/>

diff --git a/sensing/autoware_pointcloud_preprocessor/launch/dual_return_outlier_filter_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/dual_return_outlier_filter_node.launch.xml
@@ -4,11 +4,9 @@
   <arg name="input_frame" default=""/>
   <arg name="output_frame" default=""/>
   <arg name="dual_return_outlier_filter_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/dual_return_outlier_filter_node.param.yaml"/>
-  <arg name="filter_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/filter.param.yaml"/>
 
   <node pkg="autoware_pointcloud_preprocessor" exec="dual_return_outlier_filter_node" name="dual_return_outlier_filter_node">
     <param from="$(var dual_return_outlier_filter_param_file)"/>
-    <param from="$(var filter_param_file)"/>
     <remap from="input" to="$(var input_topic_name)"/>
     <remap from="output" to="$(var output_topic_name)"/>
     <param name="input_frame" value="$(var input_frame)"/>

diff --git a/..._pointcloud_preprocessor/launch/pickup_based_voxel_grid_downsample_filter_node.launch.xml b/..._pointcloud_preprocessor/launch/pickup_based_voxel_grid_downsample_filter_node.launch.xml
@@ -4,10 +4,8 @@
   <arg name="input_frame" default=""/>
   <arg name="output_frame" default=""/>
   <arg name="pickup_based_voxel_grid_downsample_filter_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/pickup_based_voxel_grid_downsample_filter_node.param.yaml"/>
-  <arg name="filter_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/filter.param.yaml"/>
   <node pkg="autoware_pointcloud_preprocessor" exec="pickup_based_voxel_grid_downsample_filter_node" name="pickup_based_voxel_grid_downsample_filter_node">
     <param from="$(var pickup_based_voxel_grid_downsample_filter_param_file)"/>
-    <param from="$(var filter_param_file)"/>
     <remap from="input" to="$(var input_topic_name)"/>
     <remap from="output" to="$(var output_topic_name)"/>
     <param name="input_frame" value="$(var input_frame)"/>

diff --git a/sensing/autoware_pointcloud_preprocessor/launch/pointcloud_accumulator_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/pointcloud_accumulator_node.launch.xml
@@ -4,10 +4,8 @@
   <arg name="input_frame" default="base_link"/>
   <arg name="output_frame" default="base_link"/>
   <arg name="pointcloud_accumulator_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/pointcloud_accumulator_node.param.yaml"/>
-  <arg name="filter_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/filter.param.yaml"/>
   <node pkg="autoware_pointcloud_preprocessor" exec="pointcloud_accumulator_node" name="pointcloud_accumulator_node">
     <param from="$(var pointcloud_accumulator_param_file)"/>
-    <param from="$(var filter_param_file)"/>
     <remap from="input" to="$(var input_topic_name)"/>
     <remap from="output" to="$(var output_topic_name)"/>
     <param name="input_frame" value="$(var input_frame)"/>

diff --git a/...g/autoware_pointcloud_preprocessor/launch/radius_search_2d_outlier_filter_node.launch.xml b/...g/autoware_pointcloud_preprocessor/launch/radius_search_2d_outlier_filter_node.launch.xml
@@ -4,10 +4,8 @@
   <arg name="input_frame" default="base_link"/>
   <arg name="output_frame" default="base_link"/>
   <arg name="radius_search_2d_outlier_filter_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/radius_search_2d_outlier_filter_node.param.yaml"/>
-  <arg name="filter_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/filter.param.yaml"/>
   <node pkg="autoware_pointcloud_preprocessor" exec="radius_search_2d_outlier_filter_node" name="radius_search_2d_outlier_filter_node">
     <param from="$(var radius_search_2d_outlier_filter_param_file)"/>
-    <param from="$(var filter_param_file)"/>
     <remap from="input" to="$(var input_topic_name)"/>
     <remap from="output" to="$(var output_topic_name)"/>
     <param name="input_frame" value="$(var input_frame)"/>

diff --git a/sensing/autoware_pointcloud_preprocessor/launch/random_downsample_filter_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/random_downsample_filter_node.launch.xml
@@ -4,11 +4,9 @@
   <arg name="input_frame" default=""/>
   <arg name="output_frame" default=""/>
   <arg name="random_downsample_filter_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/random_downsample_filter_node.param.yaml"/>
-  <arg name="filter_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/filter.param.yaml"/>
 
   <node pkg="autoware_pointcloud_preprocessor" exec="random_downsample_filter_node" name="random_downsample_filter_node">
     <param from="$(var random_downsample_filter_param_file)"/>
-    <param from="$(var filter_param_file)"/>
     <remap from="input" to="$(var input_topic_name)"/>
     <remap from="output" to="$(var output_topic_name)"/>
     <param name="input_frame" value="$(var input_frame)"/>

diff --git a/sensing/autoware_pointcloud_preprocessor/launch/ring_outlier_filter_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/ring_outlier_filter_node.launch.xml
@@ -3,11 +3,9 @@
   <arg name="output_topic_name" default="/sensing/lidar/top/pointcloud_ring_filtered"/>
   <arg name="input_frame" default=""/>
   <arg name="output_frame" default=""/>
-  <arg name="filter_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/filter.param.yaml"/>
   <arg name="ring_outlier_filter_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/ring_outlier_filter_node.param.yaml"/>
   <node pkg="autoware_pointcloud_preprocessor" exec="ring_outlier_filter_node" name="ring_outlier_filter_node">
     <param from="$(var ring_outlier_filter_param_file)"/>
-    <param from="$(var filter_param_file)"/>
     <remap from="input" to="$(var input_topic_name)"/>
     <remap from="output" to="$(var output_topic_name)"/>
     <param name="input_frame" value="$(var input_frame)"/>

diff --git a/sensing/autoware_pointcloud_preprocessor/launch/ring_passthrough_filter.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/ring_passthrough_filter.launch.xml
@@ -4,11 +4,9 @@
   <arg name="input_frame" default=""/>
   <arg name="output_frame" default="base_link"/>
   <arg name="passthrough_filter_uint16_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/passthrough_filter_uint16_node.param.yaml"/>
-  <arg name="filter_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/filter.param.yaml"/>
 
   <node pkg="autoware_pointcloud_preprocessor" exec="passthrough_filter_uint16_node" name="ring_passthrough_filter">
     <param from="$(var passthrough_filter_uint16_param_file)"/>
-    <param from="$(var filter_param_file)"/>
     <remap from="input" to="$(var input_topic_name)"/>
     <remap from="output" to="$(var output_topic_name)"/>
     <param name="input_frame" value="$(var input_frame)"/>

diff --git a/...ing/autoware_pointcloud_preprocessor/launch/vector_map_inside_area_filter_node.launch.xml b/...ing/autoware_pointcloud_preprocessor/launch/vector_map_inside_area_filter_node.launch.xml
@@ -3,10 +3,8 @@
   <arg name="input_pointcloud" default="compare_map_filtered/pointcloud"/>
   <arg name="output_pointcloud" default="vector_map_inside_area_filtered/pointcloud"/>
   <arg name="vector_map_inside_area_filter_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/vector_map_inside_area_filter_node.param.yaml"/>
-  <arg name="filter_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/filter.param.yaml"/>
   <node pkg="autoware_pointcloud_preprocessor" exec="vector_map_inside_area_filter_node" name="vector_map_inside_area_filter_node">
     <param from="$(var vector_map_inside_area_filter_param_file)"/>
-    <param from="$(var filter_param_file)"/>
     <remap from="input/vector_map" to="$(var input_vector_map)"/>
     <remap from="input" to="$(var input_pointcloud)"/>
     <remap from="output" to="$(var output_pointcloud)"/>

diff --git a/sensing/autoware_pointcloud_preprocessor/launch/voxel_grid_downsample_filter_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/voxel_grid_downsample_filter_node.launch.xml
@@ -4,10 +4,8 @@
   <arg name="input_frame" default="base_link"/>
   <arg name="output_frame" default="base_link"/>
   <arg name="voxel_grid_downsample_filter_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/voxel_grid_downsample_filter_node.param.yaml"/>
-  <arg name="filter_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/filter.param.yaml"/>
   <node pkg="autoware_pointcloud_preprocessor" exec="voxel_grid_downsample_filter_node" name="voxel_grid_downsample_filter_node">
     <param from="$(var voxel_grid_downsample_filter_param_file)"/>
-    <param from="$(var filter_param_file)"/>
     <remap from="input" to="$(var input_topic_name)"/>
     <remap from="output" to="$(var output_topic_name)"/>
     <param name="input_frame" value="$(var input_frame)"/>

diff --git a/sensing/autoware_pointcloud_preprocessor/launch/voxel_grid_outlier_filter_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/voxel_grid_outlier_filter_node.launch.xml
@@ -4,10 +4,8 @@
   <arg name="input_frame" default=""/>
   <arg name="output_frame" default=""/>
   <arg name="voxel_grid_outlier_filter_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/voxel_grid_outlier_filter_node.param.yaml"/>
-  <arg name="filter_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/filter.param.yaml"/>
   <node pkg="autoware_pointcloud_preprocessor" exec="voxel_grid_outlier_filter_node" name="voxel_grid_outlier_filter_node">
     <param from="$(var voxel_grid_outlier_filter_param_file)"/>
-    <param from="$(var filter_param_file)"/>
     <remap from="input" to="$(var input_topic_name)"/>
     <remap from="output" to="$(var output_topic_name)"/>
     <param name="input_frame" value="$(var input_frame)"/>