Initialize ROS2 support

Author: LimHyungTae

ros/launch/patchworkpp.launch.py

@@ -26,7 +26,7 @@ def generate_launch_description():
     base_frame = LaunchConfiguration("base_frame", default="base_link")
 
     # ROS configuration
-    pointcloud_topic = LaunchConfiguration("topic")
+    pointcloud_topic = LaunchConfiguration("cloud_topic")
     visualize = LaunchConfiguration("visualize", default="true")
 
     # Optional ros bag play
@@ -45,10 +45,24 @@ def generate_launch_description():
             {
                 # ROS node configuration
                 "base_frame": base_frame,
-                # Patchwork++ configuration
-                # TBU
                 "use_sim_time": use_sim_time,
-            },
+                # Patchwork++ configuration
+                'sensor_height': 1.88,
+                'num_iter': 3,  # Number of iterations for ground plane estimation using PCA.
+                'num_lpr': 20,  # Maximum number of points to be selected as lowest points representative.
+                'num_min_pts': 0,  # Minimum number of points to be estimated as ground plane in each patch.
+                'th_seeds': 0.3,
+                # threshold for lowest point representatives using in initial seeds selection of ground points.
+                'th_dist': 0.125,  # threshold for thickness of ground.
+                'th_seeds_v': 0.25,
+                # threshold for lowest point representatives using in initial seeds selection of vertical structural points.
+                'th_dist_v': 0.9,  # threshold for thickness of vertical structure.
+                'max_range': 80.0,  # max_range of ground estimation area
+                'min_range': 1.0,  # min_range of ground estimation area
+                'uprightness_thr': 0.101,
+                # threshold of uprightness using in Ground Likelihood Estimation(GLE). Please refer paper for more information about GLE.
+                'verbose': True  # display verbose info
+            }
         ],
     )
     rviz_node = Node(