Port transform/filter node from Apex.Auto to Autoware.Auto; Remove filter/transform functionality from drivers
The velodyne driver is slightly guilty of the sin of doing too much in the driver level.
What it should do is only get all raw data from an external data source into ROS 2/DDS. Instead the driver does angle and distance based filtering, in addition to applying a static transform.
The act of filtering and transforming data should be a separate concern which happens firmly in the ROS 2 domain. This will also make it easier to operate the stack with the LGSVL simulator and maintain node parity.
The following should be done:
-
Export the transform/filter functionality in lidar_utils -
Export the transform/filter node -
Remove transform/filter functionality from the drivers -
Update launch scripts and documentation
Edited by Esteve Fernandez