remove ros from base python module

fix import of param file

Author: jwag

elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping.py

@@ -57,8 +57,6 @@ def __init__(self, param: Parameter):
         Args:
             param (elevation_mapping_cupy.parameter.Parameter):
         """
-        # Initialize the ROS logger
-        self.logger = rclpy.logging.get_logger('elevation_map')
 
         self.param = param
         self.data_type = self.param.data_type
@@ -243,25 +241,6 @@ def compile_kernels(self):
         self.min_filtered_mask = cp.zeros((self.cell_n, self.cell_n), dtype=self.data_type)
         self.mask = cp.zeros((self.cell_n, self.cell_n), dtype=self.data_type)
 
-        # Log parameter values before kernel initialization
-        self.logger.info("Initializing add_points_kernel with parameters:")
-        self.logger.info(f"  resolution: {self.resolution}")
-        self.logger.info(f"  cell_n: {self.cell_n}")
-        self.logger.info(f"  sensor_noise_factor: {self.param.sensor_noise_factor}")
-        self.logger.info(f"  mahalanobis_thresh: {self.param.mahalanobis_thresh}")
-        self.logger.info(f"  outlier_variance: {self.param.outlier_variance}")
-        self.logger.info(f"  wall_num_thresh: {self.param.wall_num_thresh}")
-        self.logger.info(f"  max_ray_length: {self.param.max_ray_length}")
-        self.logger.info(f"  cleanup_step: {self.param.cleanup_step}")
-        self.logger.info(f"  min_valid_distance: {self.param.min_valid_distance}")
-        self.logger.info(f"  max_height_range: {self.param.max_height_range}")
-        self.logger.info(f"  cleanup_cos_thresh: {self.param.cleanup_cos_thresh}")
-        self.logger.info(f"  ramped_height_range_a: {self.param.ramped_height_range_a}")
-        self.logger.info(f"  ramped_height_range_b: {self.param.ramped_height_range_b}")
-        self.logger.info(f"  ramped_height_range_c: {self.param.ramped_height_range_c}")
-        self.logger.info(f"  enable_edge_sharpen: {self.param.enable_edge_sharpen}")
-        self.logger.info(f"  enable_visibility_cleanup: {self.param.enable_visibility_cleanup}")
-
         self.add_points_kernel = add_points_kernel(
             self.resolution,
             self.cell_n,

elevation_mapping_cupy/launch/elevation_mapping_turtle.launch.py

@@ -4,6 +4,7 @@
 from ament_index_python.packages import get_package_share_directory
 from launch.actions import DeclareLaunchArgument
 from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch_ros.descriptions import ParameterFile
 
 
 def generate_launch_description():
@@ -47,11 +48,11 @@ def generate_launch_description():
     )
     elevation_mapping_node = Node(
         package='elevation_mapping_cupy',
-        executable='elevation_mapping_node.py',
+        executable='elevation_mapping_node',
         name='elevation_mapping_node',
         output='screen',
         parameters=[
-            core_param_path, 
+            ParameterFile(core_param_path, allow_substs=True), 
             turtle_param_path,
             {'use_sim_time': use_sim_time}
         ]