feat: add perception launch package (#176)

* release v0.4.0 * Nodelet tlr (#56) * temporary commit tlr_nodelet Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * compressed to compressed Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * Update traffic_light.launch Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp> * fix bug Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * change image_transport to relay Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * fix bug Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * fix bug Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * decompress as rgb8 Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * fix bug Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * removed ROS1 package Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Revert "removed ROS1 package" This reverts commit 976754a13aff34af749503d187c3851adbd3e73b. * add COLCON_IGNORE file to all ROS1 packages Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * rename *.launch files to *.launch.xml Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * [ROS2 Porting] perception_launch (#6) * Initial port to ROS 2 * Port to ROS 2 * Added dependencies * fix perception_launch Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Use arg instead of let Co-authored-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * [perception_launch] fix perception_launch (#34) Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * perception_launch: Fix lidar based detection launch (#42) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * ROS2 Linting: perception_launch (#36) * Add linters and missing package dependencies * Alphabetise packages * perception_launch: Traffic light composable nodes (#43) * perception_launch: Traffic light composable nodes Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix arg Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [perception launch]: Remove unused import Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix dependency temporarily for v0.8.0 update. (#60) * Fix build_depends.repos temporarily Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Remove deprecated packages Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Ros2 v0.8.0 perception launch (#56) * restore file names Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update camera lidar fusion arch (#122) * Update yolo launch (#155) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Revert "restore file names" This reverts commit 7b50ca1b0067cc29eed73b992dd2bbadc538f4f9. * fix name Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix launch arg Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix dependency Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * cosmetic change (#138) * cosmetic change * add image topic * fix bug * rename topic names according to ros2 topic name rules Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * [perception_launch] add object_merger as exec_depend Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * [perception launch]: Add missing dependecies for traffic light recognition Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [perception launch]: Fix attributes in arg tag Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [perceptioon_launch] update roi_visualization launch Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [perception_launch]: Fix camera topic name Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [perception_launch]: Fix camera default topic in fusion launch Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> Co-authored-by: wep21 <border_goldenmarket@yahoo.co.jp> * Add depend tag for image_transport_plugin (#95) Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix typo in perception launch files (#93) * add use_sim-time option (#99) * Format launch files (#178) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Sync public repo (#185) * add tier4 usbcam (#104) * add tier4 usbcam * change version * tier4/ros2 * Ros2 vehicle info param server (#96) * add vehicle info param server * delete vehicle param file Co-authored-by: taikitanaka <ttatcoder@outlook.jp> * Ros2 fix topic name part2 (#89) * Fix topic name for traffic_light_classifier Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name for traffic_light_visualization Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name for traffic_light_ssd_fine_detector Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: taikitanaka <ttatcoder@outlook.jp> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> * Fix incorrect remap (#183) * Fix incorrect remap Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Use set_remap Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Use set_parameter for use_sim_time (#198) * Use set_parameter for use_sim_time Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Add default parameter for scenario simulator Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Feature/porting v0.9.1 master (#202) * add simulation arg (#174) * add simulation arg * add comment * change arg name * add parameter use_empty_dynamic_object_publisher into perception.launch (#176) Signed-off-by: Azumi Suzuki <azumi.suzuki@tier4.jp> Co-authored-by: Yusuke FUJII <yusuke.fujii@tier4.jp> Co-authored-by: s-azumi <38061530+s-azumi@users.noreply.github.com> * Format launch files (#228) * Format launch files Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Format launch.py Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix lint Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Put image decompressor into container (#241) * Put image decompressor into container Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix bug Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * add traffic light map viz (#149) (#207) * add traffic light map viz (#149) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix launch tag Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: wep21 <border_goldenmarket@yahoo.co.jp> * add description for perception (#334) * add README.md and svg files (#328) * add md and svg * fix typo * fix typo * fix word * fix typo * add lack of things * Update README * fix depending packages * fix word * add config directory to perception_launch and data_association_matrix.param.yaml #367 Co-authored-by: autoware-iv-sync-ci[bot] <87871706+autoware-iv-sync-ci[bot]@users.noreply.github.com> * Fix pre-commit (#407) * Fix pre-commit errors Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix package.xml Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix: Modify arg in drawio graph for README (perception launch) (#466) Modified True/False and alignment (put to center) of use_empty_dynamic_object_publisher in drawio graph. * lidar_detection: apollo instance segmentation -> centerpoint (#225) (#307) Co-authored-by: Yusuke Muramatsu <yukke42@users.noreply.github.com> * Feature/porting camera lidar fusion (#316) * Feature/camera lidar fusion (#248) * change camera lidar fusion node * change default mode of object recognition * change spilit range parameter from 10 to 30 (#272) Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * add detection by tracker (#418) add detection by tracker * Add option to select lidar detection model (#450) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Change formatter to black (#488) * Update pre-commit settings * Apply Black * Replace ament_lint_common with autoware_lint_common * Update build_depends.repos * Fix build_depends * Auto/fix launch (#110) * fix namespace * remove dynamic_object_visualization * fix rviz * Update package.xml (#111) * remove unused depend/launcher (#112) * Auto/launcher ground segmentation (#117) * add base line launch * add ground_segmentation launcher * run pre-commit * clean up * fix coding style * fix topic name * fix yaml params * fix loader name * rename components * improve implementation * add feature remover (#122) * add feature remover (#124) * support x1 perception config (#129) * support x1 perception config * remove product config * update launch.py * maintain some filters params in yaml file * add function to create elevation map pipeline * add param to yaml * Update traffic light topic name (#131) * Update traffic light topic name Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Update traffic light topic name in perception Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix exec depend in perception launch (#132) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * auto/fix occupancy grid map topic name (#137) * fix/rename segmentation namespace (#139) * fix namespace: rviz config * fix namespace: planning stack * rename segmentatino directory * fix namespace: perception stack * fix/move occupancy grid map outlier filter (#143) * fix package name * add occupancy grid map launch * update launcher * rename filter package * fix/add pointcloud_preprocessor depend (#146) * fix/add use_intra_process_comm option (#148) * feature/use common pointcloud container (#147) * add container argument * load composable node to pointcloud_container * fix autoware_launch * enable multi-thread * improve readability * Add elevation map loader to ground seg launch (#136) * change elevation_map_parameters location (#151) * refactor ground segmentation launch (#153) * Fix/update obstacle segmentation namespace (#154) * update topic name * update namespace * feat: add default vehicle param * fix: common_ground_filter for use default param * ci(pre-commit): autofix Co-authored-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: Esteve Fernandez <esteve@apache.org> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: Jilada Eccleston <jilada.eccleston@tier4.jp> Co-authored-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Co-authored-by: taikitanaka <ttatcoder@outlook.jp> Co-authored-by: Keisuke Shima <keisuke.shima@tier4.jp> Co-authored-by: Yusuke FUJII <yusuke.fujii@tier4.jp> Co-authored-by: s-azumi <38061530+s-azumi@users.noreply.github.com> Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp> Co-authored-by: autoware-iv-sync-ci[bot] <87871706+autoware-iv-sync-ci[bot]@users.noreply.github.com> Co-authored-by: g-ise <53168213+g-ise@users.noreply.github.com> Co-authored-by: Yusuke Muramatsu <yukke42@users.noreply.github.com> Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Taichi Higashide <taichi.higashide@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
autowarefoundation · Dec 14, 2021 · 1587b68 · 1587b68
1 parent f92604c
commit 1587b68
Show file tree

Hide file tree

Showing 17 changed files with 1,762 additions and 0 deletions.
diff --git a/launch/perception_launch/CMakeLists.txt b/launch/perception_launch/CMakeLists.txt
@@ -0,0 +1,16 @@
+cmake_minimum_required(VERSION 3.5)
+project(perception_launch)
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_auto_package(
+  INSTALL_TO_SHARE
+  launch
+  config
+)
diff --git a/launch/perception_launch/README.md b/launch/perception_launch/README.md
@@ -0,0 +1,20 @@
+# perception_launch
+
+## Structure
+
+![perception_launch](./perception_launch.drawio.svg)
+
+## Package Dependencies
+
+Please see `<exec_depend>` in `package.xml`.
+
+## Usage
+
+You can include as follows in `*.launch.xml` to use `perception.launch.xml`.
+
+```xml
+  <include file="$(find-pkg-share perception_launch)/launch/perception.launch.xml">
+    <!-- options for mode: camera_lidar_fusion, lidar, camera -->
+    <arg name="mode" value="lidar" />
+  </include>
+```
diff --git a/...onfig/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml b/...onfig/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml
@@ -0,0 +1,52 @@
+/**:
+  ros__parameters:
+    can_assign_matrix:
+      #UNKNOWN, CAR, TRUCK, BUS, BICYCLE, MOTORBIKE, PEDESTRIAN, ANIMAL
+      [0,       0,   0,     0,   0,       0,         0,          0,    #UNKNOWN
+       1,       1,   1,     1,   0,       0,         0,          0,    #CAR
+       1,       1,   1,     1,   0,       0,         0,          0,    #TRUCK
+       1,       1,   1,     1,   0,       0,         0,          0,    #BUS
+       0,       0,   0,     0,   1,       1,         1,          0,    #BICYCLE
+       0,       0,   0,     0,   1,       1,         1,          0,    #MOTORBIKE
+       0,       0,   0,     0,   1,       1,         1,          0,    #PEDESTRIAN
+       0,       0,   0,     0,   0,       0,         0,          1]    #ANIMAL
+    max_dist_matrix:
+      #UNKNOWN, CAR, TRUCK, BUS, BICYCLE, MOTORBIKE, PEDESTRIAN, ANIMAL
+      [1.0,     1.0, 1.0,   1.0, 1.0,     1.0,       1.0,        1.0,  #UNKNOWN
+       4.0,     2.0, 5.0,   5.0, 1.0,     1.0,       1.0,        1.0,  #CAR
+       4.0,     2.0, 5.0,   5.0, 1.0,     1.0,       1.0,        1.0,  #TRUCK
+       4.0,     2.0, 5.0,   5.0, 1.0,     1.0,       1.0,        1.0,  #BUS
+       3.0,     1.0, 1.0,   1.0, 3.0,     3.0,       2.0,        1.0,  #BICYCLE
+       3.0,     1.0, 1.0,   1.0, 3.0,     3.0,       2.0,        1.0,  #MOTORBIKE
+       2.0,     1.0, 1.0,   1.0, 3.0,     3.0,       2.0,        1.0,  #PEDESTRIAN
+       1.0,     1.0, 1.0,   1.0, 1.0,     1.0,       1.0,        1.0]  #ANIMAL
+    max_area_matrix:
+      #UNKNOWN,  CAR,      TRUCK,    BUS,      BICYCLE,  MOTORBIKE, PEDESTRIAN, ANIMAL
+      [10000.00, 10000.00, 10000.00, 10000.00, 10000.00, 10000.00,  10000.00,   10000.00,  #UNKNOWN
+          12.10,    12.10,    19.75,    32.40, 10000.00, 10000.00,  10000.00,   10000.00,  #CAR
+          19.75,    12.10,    19.75,    32.40, 10000.00, 10000.00,  10000.00,   10000.00,  #TRUCK
+          32.40,    12.10,    19.75,    32.40, 10000.00, 10000.00,  10000.00,   10000.00,  #BUS
+           2.50, 10000.00, 10000.00, 10000.00,     2.50,     2.50,      1.00,   10000.00,  #BICYCLE
+           3.00, 10000.00, 10000.00, 10000.00,     2.50,     2.50,      1.00,   10000.00,  #MOTORBIKE
+           2.00, 10000.00, 10000.00, 10000.00,     1.50,     1.50,      1.00,   10000.00,  #PEDESTRIAN
+           2.00, 10000.00, 10000.00, 10000.00, 10000.00, 10000.00,  10000.00,   10000.00]  #ANIMAL
+    min_area_matrix:
+      #UNKNOWN, CAR,   TRUCK, BUS,    BICYCLE, MOTORBIKE, PEDESTRIAN, ANIMAL
+      [ 0.000,  0.000, 0.000,  0.000, 0.000,   0.000,     0.000,      0.000,  #UNKNOWN
+        3.600,  3.600, 6.000, 10.000, 0.000,   0.000,     0.000,      0.000,  #CAR
+        6.000,  3.600, 6.000, 10.000, 0.000,   0.000,     0.000,      0.000,  #TRUCK
+       10.000,  3.600, 6.000, 10.000, 0.000,   0.000,     0.000,      0.000,  #BUS
+        0.001,  0.000, 0.000,  0.000, 0.100,   0.100,     0.100,      0.000,  #BICYCLE
+        0.001,  0.000, 0.000,  0.000, 0.100,   0.100,     0.100,      0.000,  #MOTORBIKE
+        0.001,  0.000, 0.000,  0.000, 0.100,   0.100,     0.100,      0.000,  #PEDESTRIAN
+        0.500,  0.000, 0.000,  0.000, 0.000,   0.000,     0.000,      0.000]  #ANIMAL
+    max_rad_matrix: # If value is greater than pi, it will be ignored.
+      #UNKNOWN, CAR,   TRUCK, BUS,    BICYCLE, MOTORBIKE, PEDESTRIAN, ANIMAL
+      [3.150,   3.150, 3.150, 3.150,  3.150,   3.150,     3.150,      3.150,  #UNKNOWN
+       3.150,   1.047, 1.047, 1.047,  3.150,   3.150,     3.150,      3.150,  #CAR
+       3.150,   1.047, 1.047, 1.047,  3.150,   3.150,     3.150,      3.150,  #TRUCK
+       3.150,   1.047, 1.047, 1.047,  3.150,   3.150,     3.150,      3.150,  #BUS
+       3.150,   3.150, 3.150, 3.150,  3.150,   3.150,     3.150,      3.150,  #BICYCLE
+       3.150,   3.150, 3.150, 3.150,  3.150,   3.150,     3.150,      3.150,  #MOTORBIKE
+       3.150,   3.150, 3.150, 3.150,  3.150,   3.150,     3.150,      3.150,  #PEDESTRIAN
+       3.150,   3.150, 3.150, 3.150,  3.150,   3.150,     3.150,      3.150]  #ANIMAL
diff --git a/...ion_launch/config/obstacle_segmentation/ground_segmentation/elevation_map_parameters.yaml b/...ion_launch/config/obstacle_segmentation/ground_segmentation/elevation_map_parameters.yaml
@@ -0,0 +1,30 @@
+pcl_grid_map_extraction:
+  num_processing_threads: 12
+  cloud_transform:
+    translation:
+      x: 0.0
+      y: 0.0
+      z: 0.0
+    rotation: #intrinsic rotation X-Y-Z (r-p-y)sequence
+      r: 0.0
+      p: 0.0
+      y: 0.0
+  cluster_extraction:
+    cluster_tolerance: 0.2
+    min_num_points: 3
+    max_num_points: 1000000
+  outlier_removal:
+    is_remove_outliers: false
+    mean_K: 10
+    stddev_threshold: 1.0
+  downsampling:
+    is_downsample_cloud: false
+    voxel_size:
+      x: 0.02
+      y: 0.02
+      z: 0.02
+  grid_map:
+    min_num_points_per_cell: 3
+    resolution: 0.3
+    height_type: 1
+    height_thresh: 1.0
diff --git a/...on_launch/config/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml b/...on_launch/config/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml
@@ -0,0 +1,23 @@
+/**:
+  ros__parameters:
+    additional_lidars: []
+    ransac_input_topics: []
+    use_single_frame_filter: False
+    use_time_series_filter: True
+
+    common_crop_box_filter:
+      parameters:
+        min_x: -50.0
+        max_x: 100.0
+        min_y: -50.0
+        max_y: 50.0
+        negative: False
+
+    common_ground_filter:
+      plugin: "ground_segmentation::ScanGroundFilterComponent"
+      parameters:
+        global_slope_max_angle_deg: 10.0
+        local_slope_max_angle_deg: 30.0
+        split_points_distance_tolerance: 0.2
+        split_height_distance: 0.2
+        use_virtual_ground_point: False
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
@@ -0,0 +1,110 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="image_raw0" default="/image_raw" description="image raw topic name"/>
+  <arg name="camera_info0" default="/camera_info" description="camera info topic name"/>
+  <arg name="image_raw1" default="/image_raw1"/>
+  <arg name="camera_info1" default="/camera_info1"/>
+  <arg name="image_raw2" default="/image_raw2"/>
+  <arg name="camera_info2" default="/camera_info2"/>
+  <arg name="image_raw3" default="/image_raw3"/>
+  <arg name="camera_info3" default="/camera_info3"/>
+  <arg name="image_raw4" default="/image_raw4"/>
+  <arg name="camera_info4" default="/camera_info4"/>
+  <arg name="image_raw5" default="/image_raw5"/>
+  <arg name="camera_info5" default="/camera_info5"/>
+  <arg name="image_raw6" default="/image_raw6"/>
+  <arg name="camera_info6" default="/camera_info6"/>
+  <arg name="image_raw7" default="/image_raw7"/>
+  <arg name="camera_info7" default="/camera_info7"/>
+  <arg name="image_number" default="1" description="choose image raw number(0-7)"/>
+  <arg name="use_vector_map" default="true" description="use vector map in prediction"/>
+  <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
+
+  <!-- Jetson AGX -->
+  <!-- <include file="$(find-pkg-share tensorrt_yolo)/launch/yolo.launch.xml">
+    <arg name="image_raw0" value="$(var image_raw0)"/>
+    <arg name="image_raw1" value="$(var image_raw1)"/>
+    <arg name="image_raw2" value="$(var image_raw2)"/>
+    <arg name="image_raw3" value="$(var image_raw3)"/>
+    <arg name="image_raw4" value="$(var image_raw4)"/>
+    <arg name="image_raw5" value="$(var image_raw5)"/>
+    <arg name="image_raw6" value="$(var image_raw6)"/>
+    <arg name="image_raw7" value="$(var image_raw7)"/>
+    <arg name="image_number" value="$(var image_number)"/>
+  </include> -->
+
+  <group>
+    <push-ros-namespace namespace="euclidean"/>
+    <include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
+      <arg name="output_clusters" value="lidar/clusters"/>
+    </include>
+    <include file="$(find-pkg-share roi_cluster_fusion)/launch/roi_cluster_fusion.launch.xml">
+      <arg name="input/camera_info0" value="$(var camera_info0)"/>
+      <arg name="input/rois0" value="/perception/object_recognition/detection/rois0"/>
+      <arg name="input/camera_info1" value="$(var camera_info1)"/>
+      <arg name="input/rois1" value="/perception/object_recognition/detection/rois1"/>
+      <arg name="input/camera_info2" value="$(var camera_info2)"/>
+      <arg name="input/rois2" value="/perception/object_recognition/detection/rois2"/>
+      <arg name="input/camera_info3" value="$(var camera_info3)"/>
+      <arg name="input/rois3" value="/perception/object_recognition/detection/rois3"/>
+      <arg name="input/camera_info4" value="$(var camera_info4)"/>
+      <arg name="input/rois4" value="/perception/object_recognition/detection/rois4"/>
+      <arg name="input/camera_info5" value="$(var camera_info5)"/>
+      <arg name="input/rois5" value="/perception/object_recognition/detection/rois5"/>
+      <arg name="input/camera_info6" value="$(var camera_info6)"/>
+      <arg name="input/rois6" value="/perception/object_recognition/detection/rois6"/>
+      <arg name="input/camera_info7" value="$(var camera_info7)"/>
+      <arg name="input/rois7" value="/perception/object_recognition/detection/rois7"/>
+      <arg name="input/rois_number" value="$(var image_number)"/>
+      <arg name="input/clusters" value="clustering/lidar/clusters"/>
+      <arg name="input/image0" value="$(var image_raw0)"/>
+      <arg name="input/image1" value="$(var image_raw1)"/>
+      <arg name="input/image2" value="$(var image_raw2)"/>
+      <arg name="input/image3" value="$(var image_raw3)"/>
+      <arg name="input/image4" value="$(var image_raw4)"/>
+      <arg name="input/image5" value="$(var image_raw5)"/>
+      <arg name="input/image6" value="$(var image_raw6)"/>
+      <arg name="input/image7" value="$(var image_raw7)"/>
+      <arg name="output" value="camera_lidar_fusion/clusters"/>
+    </include>
+    <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
+      <arg name="use_map_current" value="$(var use_vector_map)"/>
+      <arg name="input/objects" value="camera_lidar_fusion/clusters" />
+      <arg name="output/objects" value="camera_lidar_fusion/objects_with_feature" />
+      <arg name="orientation_reliable" value="false"/>
+    </include>
+    <!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
+    <include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
+      <arg name="input" value="camera_lidar_fusion/objects_with_feature" />
+      <arg name="output" value="camera_lidar_fusion/objects" />
+    </include>
+    <include file="$(find-pkg-share object_range_splitter)/launch/object_range_splitter.launch.xml">
+      <arg name="input/object" value="camera_lidar_fusion/objects"/>
+      <arg name="output/long_range_object" value="camera_lidar_fusion/long_range_objects"/>
+      <arg name="output/short_range_object" value="camera_lidar_fusion/short_range_objects"/>
+      <arg name="split_range" value="30.0"/>
+    </include>
+  </group>
+
+  <group if="$(eval &quot;'$(var lidar_detection_model)'=='centerpoint'&quot;)">
+    <push-ros-namespace namespace="centerpoint"/>
+    <include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml">
+      <arg name="output/objects" value="objects" />
+    </include>
+  </group>
+
+  <group if="$(eval &quot;'$(var lidar_detection_model)'=='apollo'&quot;)">
+    <push-ros-namespace namespace="apollo"/>
+    <include file="$(find-pkg-share lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch.xml" />
+    <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
+      <arg name="output/objects" value="objects"/>
+      <arg name="use_map_current" value="$(var use_vector_map)"/>
+    </include>
+  </group>
+
+  <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
+    <arg name="input/object0" value="$(var lidar_detection_model)/objects"/>
+    <arg name="input/object1" value="euclidean/camera_lidar_fusion/short_range_objects"/>
+    <arg name="output/object" value="objects"/>
+  </include>
+</launch>
diff --git a/launch/perception_launch/launch/object_recognition/detection/detection.launch.xml b/launch/perception_launch/launch/object_recognition/detection/detection.launch.xml
@@ -0,0 +1,60 @@
+<?xml version="1.0"?>
+
+<launch>
+  <arg name="mode" default="camera_lidar_fusion" description="options: `camera_lidar_fusion`, `lidar` or `camera`"/>
+  <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
+  <!-- "camera_lidar_fusion", "lidar" or "camera" -->
+  <arg name="image_raw0" default="/image_raw" description="image raw topic name"/>
+  <arg name="camera_info0" default="/camera_info" description="camera info topic name"/>
+  <arg name="image_raw1" default=""/>
+  <arg name="camera_info1" default=""/>
+  <arg name="image_raw2" default=""/>
+  <arg name="camera_info2" default=""/>
+  <arg name="image_raw3" default=""/>
+  <arg name="camera_info3" default=""/>
+  <arg name="image_raw4" default=""/>
+  <arg name="camera_info4" default=""/>
+  <arg name="image_raw5" default=""/>
+  <arg name="camera_info5" default=""/>
+  <arg name="image_raw6" default=""/>
+  <arg name="camera_info6" default=""/>
+  <arg name="image_raw7" default=""/>
+  <arg name="camera_info7" default=""/>
+  <arg name="image_number" default="1" description="choose image raw number(0-7)"/>
+  <arg name="use_vector_map" default="true" description="use vector map in prediction"/>
+
+  <!-- camera lidar fusion based detection-->
+  <group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_fusion&quot;')">
+    <include file="$(find-pkg-share perception_launch)/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml">
+      <arg name="image_raw0" value="$(var image_raw0)"/>
+      <arg name="camera_info0" value="$(var camera_info0)"/>
+      <arg name="image_raw1" value="$(var image_raw1)"/>
+      <arg name="camera_info1" value="$(var camera_info1)"/>
+      <arg name="image_raw2" value="$(var image_raw2)"/>
+      <arg name="camera_info2" value="$(var camera_info2)"/>
+      <arg name="image_raw3" value="$(var image_raw3)"/>
+      <arg name="camera_info3" value="$(var camera_info3)"/>
+      <arg name="image_raw4" value="$(var image_raw4)"/>
+      <arg name="camera_info4" value="$(var camera_info4)"/>
+      <arg name="image_raw5" value="$(var image_raw5)"/>
+      <arg name="camera_info5" value="$(var camera_info5)"/>
+      <arg name="image_raw6" value="$(var image_raw6)"/>
+      <arg name="camera_info6" value="$(var camera_info6)"/>
+      <arg name="image_raw7" value="$(var image_raw7)"/>
+      <arg name="camera_info7" value="$(var camera_info7)"/>
+      <arg name="image_number" value="$(var image_number)"/>
+      <arg name="use_vector_map" value="$(var use_vector_map)"/>
+      <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
+    </include>
+  </group>
+  <!-- lidar based detection-->
+  <group if="$(eval '&quot;$(var mode)&quot;==&quot;lidar&quot;')">
+    <include file="$(find-pkg-share perception_launch)/launch/object_recognition/detection/lidar_based_detection.launch.xml">
+      <arg name="use_vector_map" value="$(var use_vector_map)"/>
+      <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
+    </include>
+  </group>
+  <!-- camera based detection-->
+  <group if="$(eval '&quot;$(var mode)&quot;==&quot;camera&quot;')">
+  </group>
+</launch>
diff --git a/...ch/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/...ch/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
@@ -0,0 +1,54 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="use_vector_map" default="true" description="use vector map in prediction"/>
+  <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
+
+  <!-- Clustering -->
+  <group>
+    <include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
+      <arg name="output_clusters" value="clusters"/>
+      <arg name="use_pointcloud_map" value="false"/>
+    </include>
+  </group>
+
+  <!-- DetectionByTracker -->
+  <group>
+    <push-ros-namespace namespace="detection_by_tracker"/>
+    <include file="$(find-pkg-share detection_by_tracker)/launch/detection_by_tracker.launch.xml">
+    </include>
+  </group>
+
+  <!-- CenterPoint -->
+  <group if="$(eval &quot;'$(var lidar_detection_model)'=='centerpoint'&quot;)">
+    <push-ros-namespace namespace="centerpoint"/>
+    <group>
+      <include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml" />
+    </group>
+  </group>
+
+  <!-- Lidar Apollo Instance Segmentation -->
+  <group if="$(eval &quot;'$(var lidar_detection_model)'=='apollo'&quot;)">
+    <push-ros-namespace namespace="apollo"/>
+    <group>
+      <include file="$(find-pkg-share lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch.xml" />
+      <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
+        <arg name="output/objects" value="objects_with_feature"/>
+        <arg name="use_map_current" value="$(var use_vector_map)"/>
+      </include>
+      <!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
+      <include file="$(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" />
+      </include>
+    </group>
+  </group>
+
+  <!-- Merger -->
+  <group>
+    <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
+      <arg name="input/object0" value="$(var lidar_detection_model)/objects"/>
+      <arg name="input/object1" value="detection_by_tracker/objects"/>
+      <arg name="output/object" value="objects"/>
+    </include>
+  </group>
+</launch>
diff --git a/launch/perception_launch/launch/object_recognition/prediction/prediction.launch.xml b/launch/perception_launch/launch/object_recognition/prediction/prediction.launch.xml
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<launch>
+  <arg name="use_vector_map" default="false" description="use vector map in prediction"/>
+
+  <group if="$(var use_vector_map)">
+    <set_remap from="objects" to="/perception/object_recognition/objects"/>
+    <include file="$(find-pkg-share map_based_prediction)/launch/map_based_prediction.launch.xml">
+      <arg name="output_topic" value="/perception/object_recognition/objects"/>
+    </include>
+  </group>
+  <group unless="$(var use_vector_map)">
+    <include file="$(find-pkg-share naive_path_prediction)/launch/naive_path_prediction.launch.xml">
+    </include>
+  </group>
+</launch>
diff --git a/launch/perception_launch/launch/object_recognition/tracking/tracking.launch.xml b/launch/perception_launch/launch/object_recognition/tracking/tracking.launch.xml
@@ -0,0 +1,7 @@
+<?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" />
+  </include>
+</launch>