Add Point Adapter Node
Description
Closes #1024 (closed)
We should have a PointCloud2 converter that converts from one defined field set to defaults used in Autoware.Auto.
Also we should rename the sensors.yaml in the LGSVL simulator to publish in a different name for the VLP16's so that the rest of the stack will use the outputs of this node.
LGSVL Lidar -> Point Type Adapter Node -> Rest of Autoware.Auto Stack
Purpose
The new the point_cloud_msg_wrapper requires point clouds to have exactly same fields as expected in the code.
Autoware already uses x,y,z,intensity (4 floats)
and LGSVL has x,y,z,intensity,timestamp
And some other dataset might have some other fields for point clouds.
If we are planning to use point_cloud_msg_wrapper
in the Autoware.Auto, we should run this adapter to convert from some field set to default of Autoware.Auto.
Desired Behavior
Takes in a PointCloud2
message, copies it while adapting the fields to x,y,z,intensity
publishes the same message with PointCloud2
.
Also lgsvl-sensors.json
should be updated to publish in different names.
- "Topic": "/lidar_front/points_raw",
+ "Topic": "/lgsvl/lidar_front/points_raw",
- "Topic": "/lidar_rear/points_raw",
+ "Topic": "/lgsvl/lidar_rear/points_raw",
And this node will publish them as /lidar_front/points_raw
and /lidar_rear/points_raw
respectively.
Definition of Done
-
Write Point Type Adapter Nodes -
Modify the lgsvl-sensors.json
-
Update the documentation to run this node for testing with SVL Simulator.