refactor: rename filter parameter name

tier4 · Apr 16, 2024 · 847c1a7 · 847c1a7
1 parent 0aa148f
commit 847c1a7
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Showing 3 changed files with 15 additions and 15 deletions.
diff --git a/README.md b/README.md
@@ -214,16 +214,16 @@ Parameters shared by all supported models:
 
 #### Driver parameters
 
-| Parameter             | Type   | Default  | Accepted values  | Description                                                                                                                        |
-|-----------------------|--------|----------|------------------|------------------------------------------------------------------------------------------------------------------------------------|
-| frame_id              | string | velodyne |                  | ROS frame ID                                                                                                                       |
-| calibration_file      | string |          |                  | LiDAR calibration file                                                                                                             |
-| min_range             | double | 0.3      | meters, >= 0.3   | Minimum point range published                                                                                                      |
-| max_range             | double | 300.0    | meters, <= 300.0 | Maximum point range published                                                                                                      |
-| cloud_min_angle       | uint16 | 0        | degrees [0, 360] | FoV start angle                                                                                                                    |
-| cloud_max_angle       | uint16 | 359      | degrees [0, 360] | FoV end angle                                                                                                                      |
-| ring_section_filter   | bool   | false    | true, false      | Toggles filtering out specific ring sectors.                                                                                       |
-| excluded_ring_sectors | string |          |                  | Identifies and prevents specific ring sectors from being included in the point cloud based on ring ID, start angle, and end angle. |
+| Parameter                  | Type   | Default  | Accepted values  | Description                                                                                                                        |
+|----------------------------|--------|----------|------------------|------------------------------------------------------------------------------------------------------------------------------------|
+| frame_id                   | string | velodyne |                  | ROS frame ID                                                                                                                       |
+| calibration_file           | string |          |                  | LiDAR calibration file                                                                                                             |
+| min_range                  | double | 0.3      | meters, >= 0.3   | Minimum point range published                                                                                                      |
+| max_range                  | double | 300.0    | meters, <= 300.0 | Maximum point range published                                                                                                      |
+| cloud_min_angle            | uint16 | 0        | degrees [0, 360] | FoV start angle                                                                                                                    |
+| cloud_max_angle            | uint16 | 359      | degrees [0, 360] | FoV end angle                                                                                                                      |
+| enable_ring_section_filter | bool   | false    | true, false      | Toggles filtering out specific ring sectors.                                                                                       |
+| excluded_ring_sectors      | string |          |                  | Identifies and prevents specific ring sectors from being included in the point cloud based on ring ID, start angle, and end angle. |
 
 - `enable_ring_section_filter` toggles a ring-based filter to remove points located within predefined angle ranges.
 - Specify an excluded section using the format `[ring_id, start_angle, end_angle]`.
@@ -235,7 +235,7 @@ Parameters shared by all supported models:
 <node pkg="nebula_ros" exec="velodyne_driver_ros_wrapper_node"
       name="velodyne_cloud" output="screen">
   ...
-  <param name="ring_section_filter" value="true"/>
+  <param name="enable_ring_section_filter" value="true"/>
   <param name="excluded_ring_sectors" type="str"
          value="[0, 3500, 6900], [1, 3400, 6500], [2, 3200, 4600], [3, 3200, 4600]"/>
 </node>

diff --git a/nebula_ros/launch/velodyne_launch_all_hw.xml b/nebula_ros/launch/velodyne_launch_all_hw.xml
@@ -19,7 +19,7 @@
 
     <arg name="setup_sensor" default="True" description="Enable sensor setup on hw-driver."/>
 
-    <arg name="ring_section_filter" default="false"/>
+    <arg name="enable_ring_section_filter" default="false"/>
     <arg name="excluded_ring_sectors"
          default="[0, 3500, 6900], [1, 3400, 6500], [2, 3200, 4600], [3, 3200, 4600]"/>
 
@@ -30,7 +30,7 @@
         <param name="frame_id" value="$(var frame_id)"/>
         <param name="scan_phase" value="$(var scan_phase)"/>
         <param name="calibration_file" value="$(var calibration_file)"/>
-        <param name="ring_section_filter" value="$(var ring_section_filter)"/>
+        <param name="enable_ring_section_filter" value="$(var enable_ring_section_filter)"/>
         <param name="excluded_ring_sectors" type="str" value="$(var excluded_ring_sectors)"/>
     </node>
 

diff --git a/nebula_ros/src/velodyne/velodyne_decoder_ros_wrapper.cpp b/nebula_ros/src/velodyne/velodyne_decoder_ros_wrapper.cpp
@@ -252,9 +252,9 @@ Status VelodyneDriverRosWrapper::GetParameters(
     descriptor.read_only = false;
     descriptor.dynamic_typing = false;
     descriptor.additional_constraints = "";
-    this->declare_parameter<bool>("ring_section_filter", false, descriptor);
+    this->declare_parameter<bool>("enable_ring_section_filter", false, descriptor);
     sensor_configuration.ring_section_filter =
-      this->get_parameter("ring_section_filter").as_bool();
+      this->get_parameter("enable_ring_section_filter").as_bool();
     if (sensor_configuration.ring_section_filter) {
       RCLCPP_DEBUG_STREAM(this->get_logger(), "Ring section filter is active.");
     } else {