Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

feat(tier4_simulator_launch, dummy_perception_publisher): launch perception modules from simulator.launch.xml #465

Merged
merged 3 commits into from
Mar 2, 2022
Merged

feat(tier4_simulator_launch, dummy_perception_publisher): launch perception modules from simulator.launch.xml #465

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
f8f658c
feat(tier4_simulator_launch, dummy_perception_publisher): launch perc…
takayuki5168 Mar 2, 2022
b827d76
remove perception launching dummy_perception_publisher.launch.xml
takayuki5168 Mar 2, 2022
b9ef287
remove unnecessary comment
takayuki5168 Mar 2, 2022
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
43 changes: 42 additions & 1 deletion launch/tier4_simulator_launch/launch/simulator.launch.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,8 @@
<arg name="vehicle_info_param_file" />

<arg name="perception/enable_detection_failure" default="true" description="enable to simulate detection failure when using dummy perception"/>
<arg name="perception/enable_object_recognition" default="false" description="enable object recognition when using dummy perception"/>
<arg name="perception/enable_object_recognition" default="false" description="enable object recognition"/>
<arg name="perception/enable_traffic_light" default="false" description="enable traffic light"/>
<arg name="sensing/visible_range" default="300.0" description="visible range when using dummy perception"/>

<arg name="vehicle_model" description="vehicle model name"/>
Expand All @@ -25,6 +26,46 @@
</include>
</group>

<!-- perception module -->
<group>
<push-ros-namespace namespace="perception"/>
<!-- object recognition -->
<group if="$(var perception/enable_object_recognition)">
<push-ros-namespace namespace="object_recognition"/>
<!-- tracking module -->
<group>
<push-ros-namespace namespace="tracking"/>
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/tracking/tracking.launch.xml">
</include>
</group>
<!-- prediction module -->
<group>
<push-ros-namespace namespace="prediction"/>
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/prediction/prediction.launch.xml">
<arg name="use_vector_map" value="true" />
</include>
</group>
</group>

<!-- object segmentation module -->
<group>
<push-ros-namespace namespace="occupancy_grid_map"/>
<!-- Occupancy Grid -->
<include file="$(find-pkg-share laserscan_to_occupancy_grid_map)/launch/laserscan_to_occupancy_grid_map.launch.py">
<arg name="input_obstacle_pointcloud" value="true" />
<arg name="input_obstacle_and_raw_pointcloud" value="false" />
<arg name="input/obstacle_pointcloud" value="/perception/obstacle_segmentation/pointcloud" />
<arg name="output" value="/perception/occupancy_grid_map/map" />
</include>
</group>

<!-- traffic light module -->
<group if="$(var perception/enable_traffic_light)">
<push-ros-namespace namespace="traffic_light_recognition"/>
<include file="$(find-pkg-share tier4_perception_launch)/launch/traffic_light_recognition/traffic_light.launch.xml"></include>
</group>
</group>

<!-- Simulator model -->
<group if="$(var launch_dummy_vehicle)">
<arg name="simulator_model" default="$(var vehicle_model_pkg)/config/simulator_model.param.yaml" description="path to the file of simulator model"/>
Expand Down
39 changes: 1 addition & 38 deletions simulator/dummy_perception_publisher/launch/dummy_perception_publisher.launch.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,6 @@
<arg name="visible_range" default="300.0" />
<arg name="real" default="true" />
<arg name="use_object_recognition" default="true" />
<arg name="use_traffic_light_recognition" default="false" />

<group>
<push-ros-namespace namespace="simulation"/>
Expand Down Expand Up @@ -51,48 +50,12 @@
<!-- perception module -->
<group>
<push-ros-namespace namespace="perception"/>
<!-- object segmentation module -->
<group>
<push-ros-namespace namespace="occupancy_grid_map"/>
<!-- Occupancy Grid -->
<include file="$(find-pkg-share tier4_perception_launch)/launch/occupancy_grid_map/occupancy_grid_map.launch.py">
<arg name="input_obstacle_pointcloud" value="true" />
<arg name="input_obstacle_and_raw_pointcloud" value="false" />
<arg name="input/obstacle_pointcloud" value="/perception/obstacle_segmentation/pointcloud" />
<arg name="output" value="/perception/occupancy_grid_map/map" />
</include>
</group>

<!-- object recognition module -->
<group if="$(var use_object_recognition)">
<push-ros-namespace namespace="object_recognition"/>
<!-- detection module -->
<!-- tracking module -->
<group>
<push-ros-namespace namespace="tracking"/>
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/tracking/tracking.launch.xml">
</include>
</group>
<!-- prediction module -->
<group>
<push-ros-namespace namespace="prediction"/>
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/prediction/prediction.launch.xml">
<arg name="use_vector_map" value="true" />
</include>
</group>
</group>

<!-- publish empty objects instead of object recognition module -->
<group unless="$(var use_object_recognition)">
<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" />
</node>
</group>

<!-- traffic light module -->
<group if="$(var use_traffic_light_recognition)">
<push-ros-namespace namespace="traffic_light_recognition"/>
<include file="$(find-pkg-share tier4_perception_launch)/launch/traffic_light_recognition/traffic_light.launch.xml"></include>
</group>
</group>
</launch>