chore(perception_launch): sync universe/tier4_perception_launch into …

…perception_launch (autowarefoundation#408) * chore(perception_launch): sync universe/tier4_perception_launch into perception_launch Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> * fix: restore unintentionally deleted lines Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp>
TomohitoAndo · Jul 12, 2022 · a24d059 · a24d059
1 parent f0d4a06
commit a24d059
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Showing 9 changed files with 48 additions and 53 deletions.
diff --git a/...launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/...launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
@@ -64,13 +64,13 @@
     <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
       <arg name="input/objects" value="clusters"/>
       <arg name="output/objects" value="objects_with_feature"/>
-      <arg name="node_name" value="shape_estimation_clustering" />
+      <arg name="node_name" value="shape_estimation_clustering"/>
     </include>
     <!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
     <include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
       <arg name="input" value="objects_with_feature"/>
       <arg name="output" value="objects"/>
-      <arg name="node_name" value="detected_object_feature_remover_clustering" />
+      <arg name="node_name" value="detected_object_feature_remover_clustering"/>
     </include>
     <!-- Fusion camera-lidar to classify -->
     <include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_cluster_fusion.launch.xml">
@@ -105,13 +105,13 @@
     <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
       <arg name="input/objects" value="camera_lidar_fusion/clusters"/>
       <arg name="output/objects" value="camera_lidar_fusion/objects_with_feature"/>
-      <arg name="node_name" value="shape_estimation_camera_lidar_fusion" />
+      <arg name="node_name" value="shape_estimation_camera_lidar_fusion"/>
     </include>
     <!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
     <include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
       <arg name="input" value="camera_lidar_fusion/objects_with_feature"/>
       <arg name="output" value="camera_lidar_fusion/objects"/>
-      <arg name="node_name" value="detected_object_feature_camera_lidar_fusion" />
+      <arg name="node_name" value="detected_object_feature_camera_lidar_fusion"/>
     </include>
     <include file="$(find-pkg-share object_range_splitter)/launch/object_range_splitter.launch.xml">
       <arg name="input/object" value="camera_lidar_fusion/objects"/>
@@ -173,19 +173,19 @@
     <arg name="input/object0" value="$(var merger/input/objects)"/>
     <arg name="input/object1" value="clustering/camera_lidar_fusion/short_range_objects"/>
     <arg name="output/object" value="camera_lidar_fusion/objects"/>
-    <arg name="node_name" value="object_association_merger_camera_lidar_fusion" />
+    <arg name="node_name" value="object_association_merger_camera_lidar_fusion"/>
   </include>
   <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
     <arg name="input/object0" value="detection_by_tracker/objects"/>
     <arg name="input/object1" value="camera_lidar_fusion/objects"/>
     <arg name="output/object" value="temporary_merged_objects"/>
-    <arg name="node_name" value="object_association_merger_detection_by_tracker" />
+    <arg name="node_name" value="object_association_merger_detection_by_tracker"/>
   </include>
   <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
     <arg name="input/object0" value="temporary_merged_objects"/>
     <arg name="input/object1" value="clustering/objects"/>
     <arg name="output/object" value="objects_before_filter"/>
-    <arg name="node_name" value="object_association_merger_unknown_clustering" />
+    <arg name="node_name" value="object_association_merger_unknown_clustering"/>
   </include>
 
   <!-- Filter -->

diff --git a/.../launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml b/.../launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
   <!-- lidar param -->
-  <arg name="input/pointcloud" />
+  <arg name="input/pointcloud"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
   <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
 
@@ -55,14 +55,14 @@
   <group>
     <push-ros-namespace namespace="radar"/>
     <include file="$(find-pkg-share perception_launch)/launch/object_recognition/detection/radar_based_detection.launch.xml">
-      <arg name="output/objects" value="front_center/objects" />
+      <arg name="output/objects" value="front_center/objects"/>
     </include>
   </group>
 
   <!-- camera lidar radar fusion-->
   <include file="$(find-pkg-share radar_fusion_to_detected_object)/launch/radar_object_fusion_to_detected_object.launch.xml">
-    <arg name="input/objects" value="camera_lidar_fusion/objects" />
-    <arg name="input/radars" value="radar/objects" />
-    <arg name="output/objects" value="objects" />
+    <arg name="input/objects" value="camera_lidar_fusion/objects"/>
+    <arg name="input/radars" value="radar/objects"/>
+    <arg name="output/objects" value="objects"/>
   </include>
 </launch>
diff --git a/perception_launch/launch/object_recognition/detection/detection.launch.xml b/perception_launch/launch/object_recognition/detection/detection.launch.xml
@@ -1,10 +1,9 @@
 <?xml version="1.0"?>
-
 <launch>
   <arg name="mode" default="lidar" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
 
   <!-- lidar param -->
-  <arg name="input/pointcloud" />
+  <arg name="input/pointcloud"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
   <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
 
@@ -102,7 +101,7 @@
   <!-- radar based detection-->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;radar&quot;')">
     <include file="$(find-pkg-share perception_launch)/launch/object_recognition/detection/radar_based_detection.launch.xml">
-      <arg name="output/objects" value="objects" />
+      <arg name="output/objects" value="objects"/>
     </include>
   </group>
 </launch>
diff --git a/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
@@ -9,7 +9,6 @@
   <arg name="container_name" default=""/>
   <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
 
-
   <!-- Pointcloud map filter -->
   <group>
     <include file="$(find-pkg-share perception_launch)/launch/object_recognition/detection/pointcloud_map_filter.launch.py" if="$(var use_pointcloud_map)">
@@ -97,13 +96,13 @@
       <arg name="input/object0" value="$(var merger/input/objects)"/>
       <arg name="input/object1" value="clustering/objects"/>
       <arg name="output/object" value="temporary_merged_objects"/>
-      <arg name="node_name" value="object_association_merger_unknown_clustering" />
+      <arg name="node_name" value="object_association_merger_unknown_clustering"/>
     </include>
     <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
       <arg name="input/object0" value="temporary_merged_objects"/>
       <arg name="input/object1" value="detection_by_tracker/objects"/>
       <arg name="output/object" value="objects_before_filter"/>
-      <arg name="node_name" value="object_association_merger_detection_by_tracker" />
+      <arg name="node_name" value="object_association_merger_detection_by_tracker"/>
     </include>
   </group>
 
@@ -115,5 +114,4 @@
       <arg name="filtering_range_param" value="$(find-pkg-share perception_launch)/config/object_recognition/detection/object_lanelet_filter.param.yaml" />
     </include>
   </group>
-
 </launch>
diff --git a/perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
   <!-- lidar param -->
-  <arg name="input/pointcloud" />
+  <arg name="input/pointcloud"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
   <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
 
@@ -19,14 +19,14 @@
   <group>
     <push-ros-namespace namespace="radar"/>
     <include file="$(find-pkg-share perception_launch)/launch/object_recognition/detection/radar_based_detection.launch.xml">
-      <arg name="output/objects" value="objects" />
+      <arg name="output/objects" value="objects"/>
     </include>
   </group>
 
   <!-- lidar radar fusion-->
   <include file="$(find-pkg-share radar_fusion_to_detected_object)/launch/radar_object_fusion_to_detected_object.launch.xml">
-    <arg name="input/objects" value="lidar/objects" />
-    <arg name="input/radars" value="radar/objects" />
-    <arg name="output/objects" value="objects" />
+    <arg name="input/objects" value="lidar/objects"/>
+    <arg name="input/radars" value="radar/objects"/>
+    <arg name="output/objects" value="objects"/>
   </include>
 </launch>
diff --git a/perception_launch/launch/object_recognition/detection/radar_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/radar_based_detection.launch.xml
@@ -3,10 +3,10 @@
   <arg name="output/objects" default="objects"/>
 
   <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
-    <arg name="input/radar_objects" value="/sensing/radar/front_center/objects_raw" />
-    <arg name="input/odometry" value="/localization/kinematic_state" />
-    <arg name="output/radar_objects" value="$(var output/objects)" />
-    <arg name="update_rate_hz" value="20.0" />
-    <arg name="use_twist_compensation" value="true" />
+    <arg name="input/radar_objects" value="/sensing/radar/front_center/objects_raw"/>
+    <arg name="input/odometry" value="/localization/kinematic_state"/>
+    <arg name="output/radar_objects" value="$(var output/objects)"/>
+    <arg name="update_rate_hz" value="20.0"/>
+    <arg name="use_twist_compensation" value="true"/>
   </include>
 </launch>
diff --git a/perception_launch/launch/object_recognition/prediction/prediction.launch.xml b/perception_launch/launch/object_recognition/prediction/prediction.launch.xml
@@ -1,5 +1,4 @@
 <?xml version="1.0"?>
-
 <launch>
   <arg name="use_vector_map" default="false" description="use vector map in prediction"/>
 
@@ -10,7 +9,6 @@
     </include>
   </group>
   <group unless="$(var use_vector_map)">
-    <include file="$(find-pkg-share naive_path_prediction)/launch/naive_path_prediction.launch.xml">
-    </include>
+    <!-- Not support without vector map -->
   </group>
 </launch>
diff --git a/perception_launch/launch/object_recognition/tracking/tracking.launch.xml b/perception_launch/launch/object_recognition/tracking/tracking.launch.xml
@@ -1,7 +1,6 @@
 <?xml version="1.0"?>
-
 <launch>
   <include file="$(find-pkg-share multi_object_tracker)/launch/multi_object_tracker.launch.xml">
-    <arg name="data_association_matrix_path" value="$(find-pkg-share perception_launch)/config/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml" />
+    <arg name="data_association_matrix_path" value="$(find-pkg-share perception_launch)/config/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml"/>
   </include>
 </launch>
diff --git a/perception_launch/launch/perception.launch.xml b/perception_launch/launch/perception.launch.xml
@@ -1,10 +1,9 @@
 <?xml version="1.0"?>
-
 <launch>
   <!-- common parameters -->
   <arg name="input/pointcloud" default="/sensing/lidar/concatenated/pointcloud" description="The topic will be used in the detection module"/>
-  <arg name="mode" default="camera_lidar_fusion" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
   <arg name="vehicle_param_file" default="$(find-pkg-share vehicle_info_util)/config/vehicle_info.param.yaml" description="path to the file of vehicle info yaml"/>
+  <arg name="mode" default="camera_lidar_fusion" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
   <arg name="image_raw0" default="/sensing/camera/camera0/image_rect_color" description="image raw topic name"/>
   <arg name="camera_info0" default="/sensing/camera/camera0/camera_info" description="camera info topic name"/>
@@ -25,7 +24,11 @@
   <arg name="image_number" default="6" description="choose image raw number(0-7)"/>
   <arg name="use_vector_map" default="true" description="use vector map in prediction"/>
   <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
-  <arg name="use_empty_dynamic_object_publisher" default="false" description="if use_empty_dynamic_object_publisher:=true, /perception/object_recognition/objects topic has an empty DynamicObjectArray"/>
+  <arg
+    name="use_empty_dynamic_object_publisher"
+    default="false"
+    description="if use_empty_dynamic_object_publisher:=true, /perception/object_recognition/objects topic has an empty DynamicObjectArray"
+  />
   <arg name="use_pointcloud_container" default="false" description="launch pointcloud container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
 
@@ -37,26 +40,26 @@
     <group>
       <push-ros-namespace namespace="obstacle_segmentation"/>
       <include file="$(find-pkg-share perception_launch)/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py">
-        <arg name="base_frame" value="base_link" />
-        <arg name="use_intra_process" value="true" />
-        <arg name="use_multithread" value="true" />
-        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
+        <arg name="base_frame" value="base_link"/>
+        <arg name="vehicle_param_file" value="$(var vehicle_param_file)"/>
+        <arg name="use_intra_process" value="true"/>
+        <arg name="use_multithread" value="true"/>
+        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
         <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-        <arg name="vehicle_param_file" value="$(var vehicle_param_file)"/>
       </include>
     </group>
 
     <!-- occupancy grid map module -->
     <group>
       <push-ros-namespace namespace="occupancy_grid_map"/>
       <include file="$(find-pkg-share perception_launch)/launch/occupancy_grid_map/pointcloud_based_occupancy_grid_map.launch.py">
-        <arg name="input/obstacle_pointcloud" value="/perception/obstacle_segmentation/single_frame/pointcloud_raw" />
-        <arg name="input/raw_pointcloud" value="$(var input/pointcloud)" />
-        <arg name="output" value="/perception/occupancy_grid_map/map" />
-        <arg name="use_intra_process" value="true" />
-        <arg name="use_multithread" value="true" />
-        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
+        <arg name="input/obstacle_pointcloud" value="/perception/obstacle_segmentation/single_frame/pointcloud_raw"/>
+        <arg name="input/raw_pointcloud" value="$(var input/pointcloud)"/>
+        <arg name="output" value="/perception/occupancy_grid_map/map"/>
+        <arg name="use_intra_process" value="true"/>
+        <arg name="use_multithread" value="true"/>
+        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
       </include>
     </group>
@@ -94,8 +97,7 @@
       <!-- tracking module -->
       <group>
         <push-ros-namespace namespace="tracking"/>
-        <include file="$(find-pkg-share perception_launch)/launch/object_recognition/tracking/tracking.launch.xml">
-        </include>
+        <include file="$(find-pkg-share perception_launch)/launch/object_recognition/tracking/tracking.launch.xml"/>
       </group>
       <!-- prediction module -->
       <group>
@@ -109,15 +111,14 @@
     <group if="$(var use_empty_dynamic_object_publisher)">
       <push-ros-namespace namespace="object_recognition"/>
       <node pkg="dummy_perception_publisher" exec="empty_objects_publisher" name="empty_objects_publisher" output="screen">
-        <remap from="~/output/objects" to="/perception/object_recognition/objects" />
+        <remap from="~/output/objects" to="/perception/object_recognition/objects"/>
       </node>
     </group>
 
     <!-- traffic light module -->
     <group>
       <push-ros-namespace namespace="traffic_light_recognition"/>
-      <include file="$(find-pkg-share perception_launch)/launch/traffic_light_recognition/traffic_light.launch.xml">
-      </include>
+      <include file="$(find-pkg-share perception_launch)/launch/traffic_light_recognition/traffic_light.launch.xml"/>
     </group>
   </group>
 </launch>