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feat(tier4_perception_launch): update traffic light launch #4176

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merged 10 commits into from
Jul 8, 2023
Merged

feat(tier4_perception_launch): update traffic light launch #4176

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f218668
first commit
Mingyu1991 Jul 5, 2023
df59b8b
add image number arg
miursh Jul 7, 2023
f02f05b
style(pre-commit): autofix
pre-commit-ci[bot] Jul 7, 2023
adf4699
Update launch/tier4_perception_launch/launch/traffic_light_recognitio…
miursh Jul 7, 2023
f48c857
Update launch/tier4_perception_launch/launch/traffic_light_recognitio…
miursh Jul 7, 2023
2a535a8
add traffic light namespace to fusion
miursh Jul 7, 2023
b697cc8
Merge branch 'feat/update_tlr_launcher' into feat/update_traffic_ligh…
miursh Jul 7, 2023
325d258
add tlr fusion only mode and camera number arg
miursh Jul 7, 2023
17e2c50
change to include traffic_light_arbiter launch
miursh Jul 7, 2023
854e71e
delete relay topic type
miursh Jul 7, 2023
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73 changes: 55 additions & 18 deletions launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -3,30 +3,38 @@
<arg name="enable_image_decompressor" default="true" description="enable image decompressor"/>
<arg name="enable_fine_detection" default="true" description="enable fine position adjustment of traffic light"/>
<arg name="fine_detector_label_path" default="$(find-pkg-share traffic_light_fine_detector)/data/tlr_labels.txt" description="fine detector label path"/>
<arg name="fine_detector_model_path" default="$(find-pkg-share traffic_light_fine_detector)/data/tlr_yolox_s.onnx" description="fine detector onnx model path"/>
<arg name="input/cloud" default="/sensing/lidar/top/pointcloud_raw" description="point cloud for occlusion prediction"/>
<arg name="fine_detector_model_path" default="$(find-pkg-share traffic_light_fine_detector)/data/tlr_yolox_s_batch_6.onnx" description="fine detector onnx model path"/>
<arg name="classifier_label_path" default="$(find-pkg-share traffic_light_classifier)/data/lamp_labels.txt" description="classifier label path"/>
<arg name="classifier_model_path" default="$(find-pkg-share traffic_light_classifier)/data/traffic_light_classifier_efficientNet_b1.onnx" description="classifier onnx model path"/>
<arg name="classifier_model_path" default="$(find-pkg-share traffic_light_classifier)/data/traffic_light_classifier_mobilenetv2_batch_6.onnx" description="classifier onnx model path"/>
<arg name="output/traffic_signals" default="/perception/traffic_light_recognition/traffic_signals"/>
<arg name="use_crosswalk_traffic_light_estimator" default="true" description="output pedestrian's traffic light signals"/>
<arg name="use_crosswalk_traffic_light_estimator" default="false" description="output pedestrian's traffic light signals"/>
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<let name="namespace1" value="camera6"/>
<let name="namespace2" value="camera7"/>
<let name="output/rois1" value="/perception/traffic_light_recognition/$(var namespace1)/rois"/>
<let name="output/rois2" value="/perception/traffic_light_recognition/$(var namespace2)/rois"/>
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<let name="output/traffic_signals1" value="/perception/traffic_light_recognition/$(var namespace1)/traffic_signals"/>
<let name="output/traffic_signals2" value="/perception/traffic_light_recognition/$(var namespace2)/traffic_signals"/>
<let name="all_camera_namespaces" value="[$(var namespace1), $(var namespace2)]"/>
<!-- camera 6 TLR pipeline -->
<group>
<push-ros-namespace namespace="$(var namespace1)"/>
<let name="input/image" value="/sensing/camera/$(var namespace1)/image_raw"/>
<let name="input/camera_info" value="/sensing/camera/$(var namespace1)/camera_info"/>
<let name="map_based_detector_output_topic" value="rough/rois" if="$(var enable_fine_detection)"/>
<let name="map_based_detector_output_topic" value="rois" unless="$(var enable_fine_detection)"/>
<let name="map_based_detector_output_topic" value="$(var output/rois1)" unless="$(var enable_fine_detection)"/>

<node pkg="topic_tools" exec="relay" name="traffic_light_camra_info_relay" args="$(var input/camera_info) camera_info"/>
<include file="$(find-pkg-share traffic_light_map_based_detector)/launch/traffic_light_map_based_detector.launch.xml">
<arg name="input/camera_info" value="$(var input/camera_info)"/>
<arg name="min_timestamp_offset" value="-0.3"/>
<arg name="expect/rois" value="expect/rois"/>
<arg name="output/rois" value="$(var map_based_detector_output_topic)"/>
<arg name="output/camera_info" value="camera_info"/>
</include>
<group>
<push-ros-namespace namespace="detection"/>
<include file="$(find-pkg-share traffic_light_map_based_detector)/launch/traffic_light_map_based_detector.launch.xml">
<arg name="input/camera_info" value="$(var input/camera_info)"/>
<arg name="min_timestamp_offset" value="-0.3"/>
<arg name="expect/rois" value="expect/rois"/>
<arg name="output/rois" value="$(var map_based_detector_output_topic)"/>
<arg name="output/camera_info" value="camera_info"/>
</include>
</group>

<include file="$(find-pkg-share tier4_perception_launch)/launch/traffic_light_recognition/traffic_light_node_container.launch.py">
<arg name="input/image" value="$(var input/image)"/>
Expand All @@ -39,7 +47,20 @@
<arg name="fine_detector_model_path" value="$(var fine_detector_model_path)"/>
<arg name="classifier_label_path" value="$(var classifier_label_path)"/>
<arg name="classifier_model_path" value="$(var classifier_model_path)"/>
<arg name="output/rois" value="$(var output/rois1)"/>
<arg name="output/traffic_signals" value="$(var output/traffic_signals1)"/>
</include>

<group>
<push-ros-namespace namespace="classification"/>
<include file="$(find-pkg-share traffic_light_occlusion_predictor)/launch/traffic_light_occlusion_predictor.launch.xml">
<arg name="input/camera_info" value="$(var input/camera_info)"/>
<arg name="input/cloud" value="$(var input/cloud)"/>
<arg name="input/rois" value="$(var output/rois1)"/>
<arg name="input/traffic_signals" value="estimated/traffic_signals"/>
<arg name="output/traffic_signals" value="$(var output/traffic_signals1)"/>
</include>
</group>
</group>
<!-- camera 7 TLR pipeline -->
<group>
Expand All @@ -50,13 +71,16 @@
<let name="map_based_detector_output_topic" value="rois" unless="$(var enable_fine_detection)"/>

<node pkg="topic_tools" exec="relay" name="traffic_light_camra_info_relay" args="$(var input/camera_info) camera_info"/>
<include file="$(find-pkg-share traffic_light_map_based_detector)/launch/traffic_light_map_based_detector.launch.xml">
<arg name="input/camera_info" value="$(var input/camera_info)"/>
<arg name="min_timestamp_offset" value="-0.04"/>
<arg name="expect/rois" value="expect/rois"/>
<arg name="output/rois" value="$(var map_based_detector_output_topic)"/>
<arg name="output/camera_info" value="camera_info"/>
</include>
<group>
<push-ros-namespace namespace="detection"/>
<include file="$(find-pkg-share traffic_light_map_based_detector)/launch/traffic_light_map_based_detector.launch.xml">
<arg name="input/camera_info" value="$(var input/camera_info)"/>
<arg name="min_timestamp_offset" value="-0.04"/>
<arg name="expect/rois" value="expect/rois"/>
<arg name="output/rois" value="$(var map_based_detector_output_topic)"/>
<arg name="output/camera_info" value="camera_info"/>
</include>
</group>

<include file="$(find-pkg-share tier4_perception_launch)/launch/traffic_light_recognition/traffic_light_node_container.launch.py">
<arg name="input/image" value="$(var input/image)"/>
Expand All @@ -69,7 +93,20 @@
<arg name="fine_detector_model_path" value="$(var fine_detector_model_path)"/>
<arg name="classifier_label_path" value="$(var classifier_label_path)"/>
<arg name="classifier_model_path" value="$(var classifier_model_path)"/>
<arg name="output/rois" value="$(var output/rois2)"/>
<arg name="output/traffic_signals" value="$(var output/traffic_signals2)"/>
</include>

<group>
<push-ros-namespace namespace="classification"/>
<include file="$(find-pkg-share traffic_light_occlusion_predictor)/launch/traffic_light_occlusion_predictor.launch.xml">
<arg name="input/camera_info" value="$(var input/camera_info)"/>
<arg name="input/cloud" value="$(var input/cloud)"/>
<arg name="input/rois" value="$(var output/rois2)"/>
<arg name="input/traffic_signals" value="estimated/traffic_signals"/>
<arg name="output/traffic_signals" value="$(var output/traffic_signals2)"/>
</include>
</group>
</group>
<!-- traffic_light_multi_camera_fusion -->
<group>
Expand Down
23 changes: 15 additions & 8 deletions ...perception_launch/launch/traffic_light_recognition/traffic_light_node_container.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -40,6 +40,10 @@ def add_launch_arg(name: str, default_value=None, description=None):
add_launch_arg("enable_image_decompressor", "True")
add_launch_arg("enable_fine_detection", "True")
add_launch_arg("input/image", "/sensing/camera/traffic_light/image_raw")
add_launch_arg("output/rois", "/perception/traffic_light_recognition/rois")
add_launch_arg(
"output/traffic_signals", "/perception/traffic_light_recognition/traffic_signals"
)

# traffic_light_fine_detector
add_launch_arg(
Expand Down Expand Up @@ -89,6 +93,7 @@ def create_parameter_dict(*args):
package="traffic_light_classifier",
plugin="traffic_light::TrafficLightClassifierNodelet",
name="traffic_light_classifier",
namespace="classification",
parameters=[
create_parameter_dict(
"approximate_sync",
Expand All @@ -102,7 +107,7 @@ def create_parameter_dict(*args):
],
remappings=[
("~/input/image", LaunchConfiguration("input/image")),
("~/input/rois", "rois"),
("~/input/rois", LaunchConfiguration("output/rois")),
("~/output/traffic_signals", "classified/traffic_signals"),
],
extra_arguments=[
Expand All @@ -116,9 +121,9 @@ def create_parameter_dict(*args):
parameters=[create_parameter_dict("enable_fine_detection")],
remappings=[
("~/input/image", LaunchConfiguration("input/image")),
("~/input/rois", "rois"),
("~/input/rough/rois", "rough/rois"),
("~/input/traffic_signals", "traffic_signals"),
("~/input/rois", LaunchConfiguration("output/rois")),
("~/input/rough/rois", "detection/rough/rois"),
("~/input/traffic_signals", LaunchConfiguration("output/traffic_signals")),
("~/output/image", "debug/rois"),
("~/output/image/compressed", "debug/rois/compressed"),
("~/output/image/compressedDepth", "debug/rois/compressedDepth"),
Expand All @@ -138,11 +143,12 @@ def create_parameter_dict(*args):
package="crosswalk_traffic_light_estimator",
plugin="traffic_light::CrosswalkTrafficLightEstimatorNode",
name="crosswalk_traffic_light_estimator",
namespace="classification",
remappings=[
("~/input/vector_map", "/map/vector_map"),
("~/input/route", "/planning/mission_planning/route"),
("~/input/classified/traffic_signals", "classified/traffic_signals"),
("~/output/traffic_signals", "traffic_signals"),
("~/output/traffic_signals", "estimated/traffic_signals"),
],
extra_arguments=[{"use_intra_process_comms": False}],
),
Expand All @@ -157,10 +163,10 @@ def create_parameter_dict(*args):
package="topic_tools",
plugin="topic_tools::RelayNode",
name="classified_signals_relay",
namespace="",
namespace="classification",
parameters=[
{"input_topic": "classified/traffic_signals"},
{"output_topic": "traffic_signals"},
{"output_topic": "estimated/traffic_signals"},
{"type": "autoware_auto_perception_msgs/msg/TrafficSignalArray"},
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],
extra_arguments=[
Expand Down Expand Up @@ -209,12 +215,13 @@ def create_parameter_dict(*args):
package="traffic_light_fine_detector",
plugin="traffic_light::TrafficLightFineDetectorNodelet",
name="traffic_light_fine_detector",
namespace="detection",
parameters=[fine_detector_param],
remappings=[
("~/input/image", LaunchConfiguration("input/image")),
("~/input/rois", "rough/rois"),
("~/expect/rois", "expect/rois"),
("~/output/rois", "rois"),
("~/output/rois", LaunchConfiguration("output/rois")),
],
extra_arguments=[
{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}
Expand Down