refactor(autoware_launch): add an option for filtering and validation (…

…#479) * init commit Signed-off-by: ismetatabay <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: ismetatabay <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
autowarefoundation · Aug 7, 2023 · 75eb848 · 75eb848
1 parent a3e28d1
commit 75eb848
Showing 1 changed file with 8 additions and 0 deletions.
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -2,6 +2,12 @@
 <launch>
   <arg name="occupancy_grid_map_method" default="pointcloud_based_occupancy_grid_map" description="options: pointcloud_based_occupancy_grid_map, laserscan_based_occupancy_grid_map"/>
   <arg name="occupancy_grid_map_updater" default="binary_bayes_filter" description="options: binary_bayes_filter"/>
+  <arg name="detected_objects_filter_method" default="lanelet_filter" description="options: lanelet_filter, position_filter"/>
+  <arg
+    name="detected_objects_validation_method"
+    default="obstacle_pointcloud"
+    description="options: obstacle_pointcloud, occupancy_grid (occupancy_grid_map_method must be laserscan_based_occupancy_grid_map)"
+  />
 
   <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
     <arg name="mode" value="$(var perception_mode)"/>
@@ -11,6 +17,8 @@
     <arg name="enable_fine_detection" value="$(var traffic_light_recognition/enable_fine_detection)"/>
     <arg name="occupancy_grid_map_method" value="$(var occupancy_grid_map_method)"/>
     <arg name="occupancy_grid_map_updater" value="$(var occupancy_grid_map_updater)"/>
+    <arg name="objects_filter_method" value="$(var detected_objects_filter_method)"/>
+    <arg name="objects_validation_method" value="$(var detected_objects_validation_method)"/>
 
     <!-- object recognition -->
     <arg name="object_recognition_detection_compare_map_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/clustering/compare_map.param.yaml"/>