feat: add dummy perception publisher (autowarefoundation#90)

* release v0.4.0 * add use_object_recognition flag in dummy_perception_publisher (autowarefoundation#696) * remove ROS1 packages temporarily Signed-off-by: mitsudome-r <[email protected]> * add sample ros2 packages Signed-off-by: mitsudome-r <[email protected]> * remove ROS1 packages Signed-off-by: mitsudome-r <[email protected]> * Revert "remove ROS1 packages temporarily" This reverts commit 2e9822586a3539a32653e6bcd378715674b519ca. Signed-off-by: mitsudome-r <[email protected]> * add COLCON_IGNORE to ros1 packages Signed-off-by: mitsudome-r <[email protected]> * Rename launch files to launch.xml (autowarefoundation#28) * Port dummy_perception_publisher to ROS2 (autowarefoundation#90) * Port dummy_perception_publisher to ROS2 * Uncrustify * Lint * Copyright * Period * Further ament_cpplint fixes * Convert calls of Duration to Duration::from_seconds where appropriate (autowarefoundation#131) * Use quotes for includes where appropriate (autowarefoundation#144) * Use quotes for includes where appropriate * Fix lint tests * Make tests pass hopefully * adding linters to dummy_perception_publisher (autowarefoundation#220) * [dummy_perception_publisher] fix launch file and installation (autowarefoundation#215) * [dummy_perception_publisher] fix launch file and installation Signed-off-by: mitsudome-r <[email protected]> * Apply suggestions from code review Co-authored-by: Takamasa Horibe <[email protected]> Co-authored-by: Takamasa Horibe <[email protected]> * reduce terminal ouput for better error message visibility (autowarefoundation#200) * reduce terminal ouput for better error message visibility Signed-off-by: mitsudome-r <[email protected]> * [costmap_generator] fix waiting for first transform Signed-off-by: mitsudome-r <[email protected]> * fix tests Signed-off-by: mitsudome-r <[email protected]> * fix test Signed-off-by: mitsudome-r <[email protected]> * modify launch file for making psim work (autowarefoundation#238) * modify launch file for making psim work Signed-off-by: kosuke murakami <[email protected]> * remove unnecesary ns Signed-off-by: kosuke murakami <[email protected]> * Ros2 v0.8.0 dummy perception publisher (autowarefoundation#286) * Remove "/" in frame_id (autowarefoundation#406) Signed-off-by: Kenji Miyake <[email protected]> * Fix transform (autowarefoundation#420) * Replace rclcpp::Time(0) by tf2::TimePointZero() in lookupTransform Signed-off-by: Kenji Miyake <[email protected]> * Fix canTransform Signed-off-by: Kenji Miyake <[email protected]> * Fix test Signed-off-by: Kenji Miyake <[email protected]> * add use_sim-time option (autowarefoundation#454) * Remove use_sim_time for set_parameter (autowarefoundation#1260) Signed-off-by: wep21 <[email protected]> * Diable dummy_perception_publisher if argument 'scenario_simulation' i… (autowarefoundation#1275) * Diable dummy_perception_publisher if argument 'scenario_simulation' is true * Rename argument to 'disable_dummy_perception_publisher_node' from 'scenario_simulation' * change theta step for obj point cloud (autowarefoundation#1280) * Revert changes of PR autowarefoundation#1275 (autowarefoundation#1377) * Add pre-commit (autowarefoundation#1560) * add pre-commit * add pre-commit-config * add additional settings for private repository * use default pre-commit-config * update pre-commit setting * Ignore whitespace for line breaks in markdown * Update .github/workflows/pre-commit.yml Co-authored-by: Kazuki Miyahara <[email protected]> * exclude svg * remove pretty-format-json * add double-quote-string-fixer * consider COLCON_IGNORE file when seaching modified package * format file * pre-commit fixes * Update pre-commit.yml * Update .pre-commit-config.yaml Co-authored-by: Kazuki Miyahara <[email protected]> Co-authored-by: pre-commit <[email protected]> Co-authored-by: Kenji Miyake <[email protected]> * Fix dependency type of rosidl_default_generators (autowarefoundation#1801) * Fix dependency type of rosidl_default_generators Signed-off-by: Kenji Miyake <[email protected]> * Remove unnecessary depends Signed-off-by: Kenji Miyake <[email protected]> * Use ament_cmake_auto Signed-off-by: Kenji Miyake <[email protected]> * Fix -Wunused-parameter (autowarefoundation#1836) * Fix -Wunused-parameter Signed-off-by: Kenji Miyake <[email protected]> * Fix mistake Signed-off-by: Kenji Miyake <[email protected]> * fix spell * Fix lint issues Signed-off-by: Kenji Miyake <[email protected]> * Ignore flake8 warnings Signed-off-by: Kenji Miyake <[email protected]> Co-authored-by: Hiroki OTA <[email protected]> * fix topic namespace (autowarefoundation#2054) Signed-off-by: Azumi Suzuki <[email protected]> * add sort-package-xml hook in pre-commit (autowarefoundation#1881) * add sort xml hook in pre-commit * change retval to exit_status * rename * add prettier plugin-xml * use early return * add license note * add tier4 license * restore prettier * change license order * move local hooks to public repo * move prettier-xml to pre-commit-hooks-ros * update version for bug-fix * apply pre-commit * Feature/porting occlusion spot (autowarefoundation#1740) * Feature/occlusion_spot safety planner public road (autowarefoundation#1594) * add blind spot safety planner public road * remove duplicated procesing * remove unused private param * renaming fix typo add comments * fix spell check * velocity -> relative velocity * calc2d, To param, simplify search, To original * add the num possible collision gurd * computational cost reduction * Cosmetic change for PossibleCollisionInfo * add interpolation to possible collision value * refactor codes * fix details * invalid point gurd * To Param * refacotor to occlusion spot util * cosmetic change * clean up blindspot * To Occlusion Spot * revise readme * refactor drawing * for better explanation * fix velocity profile * clean up details * cosmetic change for debug marker * use max velocity in obstacle info instead * add gtest for Too Many Possible Collision case * change case * refactor readme * minor fix * add more occlusion spot explanation * replace svg * add gtest build path lanelet * hotfix lateral distance and searching method * update g test for lateral distance * use faster search * set more realistic param * add lanelet subtype highway * cosmetic change of reviews * add occlusion spot module in private area (autowarefoundation#1640) * add occlusion spot in private * For debugging change * add spline interpolation to path * add review changes * adding minor change * cosmetic change * Vector to retval * Blindspot To OcclusionSpot1 * To Occlusion Spot 2 * To Occlusions spot3 * update gtest with unified anchor * remove anchor * add test slice * simplify interpolation * Too Occlusion spot4 * add test buffer * To Occlusion spot * namespace gurd * correct slice and add interpolation first * handle self crossing with check for invation * to ros debug stream * removed unused interpolation * add readme to plant uml * cosmetic change * minor change * update readme * review change * change occlusion spot text color * To Offset no Throw * better debug marker * catch only inversion error * skip return in case of inversion * for better grid * simplify path lanelet at first * remove std::cout * for better path * limit ego path inside target lanelet location * remove last points * cosmetic change for markers * apply module for limited scene * fix interpolation gurd * for better params * do not includes path behind * remove dummy perception publisher * Revert "remove dummy perception publisher" This reverts commit 4acad985fe31dd9befaa21a16631495de6c3a117. * replace hard coded occupancy grid option in psim * remove respawn * add arg to params and remove redundunt launch * fix spell check * fix default value Co-authored-by: tkimura4 <[email protected]> * Feature/occlusion spot private slice size param (autowarefoundation#1703) * add min slice size * for a bit narrow lateral distance * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/config/occlusion_spot_param.yaml Co-authored-by: Maxime CLEMENT <[email protected]> Co-authored-by: Maxime CLEMENT <[email protected]> * Rename files Signed-off-by: wep21 <[email protected]> * Porting to ros2 Signed-off-by: wep21 <[email protected]> * pre-commit fixes Signed-off-by: wep21 <[email protected]> * Fix typo Signed-off-by: wep21 <[email protected]> * Fix launch namespace Co-authored-by: tkimura4 <[email protected]> * Fix parameter type Co-authored-by: tkimura4 <[email protected]> * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/src/scene_module/occlusion_spot/scene_occlusion_spot_in_private_road.cpp Co-authored-by: tkimura4 <[email protected]> Co-authored-by: taikitanaka3 <[email protected]> Co-authored-by: tkimura4 <[email protected]> Co-authored-by: Maxime CLEMENT <[email protected]> * Change formatter to clang-format and black (autowarefoundation#2332) * Revert "Temporarily comment out pre-commit hooks" This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3. * Replace ament_lint_common with autoware_lint_common Signed-off-by: Kenji Miyake <[email protected]> * Remove ament_cmake_uncrustify and ament_clang_format Signed-off-by: Kenji Miyake <[email protected]> * Apply Black Signed-off-by: Kenji Miyake <[email protected]> * Apply clang-format Signed-off-by: Kenji Miyake <[email protected]> * Fix build errors Signed-off-by: Kenji Miyake <[email protected]> * Fix for cpplint * Fix include double quotes to angle brackets Signed-off-by: Kenji Miyake <[email protected]> * Apply clang-format Signed-off-by: Kenji Miyake <[email protected]> * Fix build errors Signed-off-by: Kenji Miyake <[email protected]> * Add COLCON_IGNORE (autowarefoundation#500) Signed-off-by: Kenji Miyake <[email protected]> * port dummy perception publisher to auto (autowarefoundation#562) * port dummy perception publisher to auto * autoware_perception_msgs/DynamicObjectWithFeatureArray convert to autoware_perception_msgs/DetectedObjectsWithFeature * change tracked objects to PREDICTED objects * separate pub type with real * Add README.md to dummy perception publisher (autowarefoundation#641) * Added readme for dummy_perception_pub * README update * README update * Fix pre-commit * fix typo * Update README.md * Update README.md * Update README.md * Modified node.cpp * Modified README.md * change parameter name * Update README.md * [shape_estimation]change type (autowarefoundation#663) * change output type of shape_estimation * remove unused function * add dynamic_object_converter * rename * fix typo * fix dummy_perception_publisher * update readme * fix copyright * rename package * add readme * fix launch name * remove unused variable * fix readme * fix convert function * change topic name of DynamicObjectsWithFeature * Fix no ground pointcloud topic name (autowarefoundation#733) Signed-off-by: j4tfwm6z <[email protected]> Co-authored-by: j4tfwm6z <[email protected]> * auto/fix occupancy grid name space in dummy perception publisher (autowarefoundation#739) * fix name space * change namespace: object_segmentation -> obstacle_segmentation * feat: add use_traffic_light status Co-authored-by: mitsudome-r <[email protected]> Co-authored-by: Taichi Higashide <[email protected]> Co-authored-by: Nikolai Morin <[email protected]> Co-authored-by: nik-tier4 <[email protected]> Co-authored-by: Ryohsuke Mitsudome <[email protected]> Co-authored-by: Takamasa Horibe <[email protected]> Co-authored-by: Kosuke Murakami <[email protected]> Co-authored-by: Daisuke Nishimatsu <[email protected]> Co-authored-by: Kenji Miyake <[email protected]> Co-authored-by: tkimura4 <[email protected]> Co-authored-by: Tatsuya Yamasaki <[email protected]> Co-authored-by: taikitanaka3 <[email protected]> Co-authored-by: Keisuke Shima <[email protected]> Co-authored-by: Kazuki Miyahara <[email protected]> Co-authored-by: pre-commit <[email protected]> Co-authored-by: Hiroki OTA <[email protected]> Co-authored-by: Azumi Suzuki <[email protected]> Co-authored-by: Maxime CLEMENT <[email protected]> Co-authored-by: Yohei Mishina <[email protected]> Co-authored-by: j4tfwm6z <[email protected]> Co-authored-by: Satoshi OTA <[email protected]>
mitsudome-r · Dec 2, 2021 · 15ec6ff · 15ec6ff
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diff --git a/simulator/dummy_perception_publisher/CMakeLists.txt b/simulator/dummy_perception_publisher/CMakeLists.txt
@@ -0,0 +1,87 @@
+cmake_minimum_required(VERSION 3.5)
+project(dummy_perception_publisher)
+
+### Compile options
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+  set(CMAKE_CXX_EXTENSIONS OFF)
+endif()
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# Dependencies for messages
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(autoware_auto_perception_msgs REQUIRED)
+find_package(autoware_perception_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(unique_identifier_msgs REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/InitialState.msg"
+  "msg/Object.msg"
+  DEPENDENCIES autoware_auto_perception_msgs autoware_perception_msgs geometry_msgs std_msgs unique_identifier_msgs
+)
+
+# See ndt_omp package for documentation on why PCL is special
+find_package(PCL REQUIRED COMPONENTS common filters)
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+set(${PROJECT_NAME}_DEPENDENCIES
+  autoware_auto_perception_msgs
+  autoware_perception_msgs
+  pcl_conversions
+  rclcpp
+  sensor_msgs
+  std_msgs
+  tf2
+  tf2_geometry_msgs
+  tf2_ros
+)
+
+ament_auto_add_executable(dummy_perception_publisher_node
+  src/main.cpp
+  src/node.cpp
+)
+
+ament_target_dependencies(dummy_perception_publisher_node ${${PROJECT_NAME}_DEPENDENCIES})
+
+target_include_directories(dummy_perception_publisher_node
+  PUBLIC
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+    $<INSTALL_INTERFACE:include>)
+
+# For using message definitions from the same package
+rosidl_target_interfaces(dummy_perception_publisher_node
+  ${PROJECT_NAME} "rosidl_typesupport_cpp")
+
+# PCL dependencies – `ament_target_dependencies` doesn't respect the
+# components/modules selected above and only links in `common` ,so we need
+# to do this manually.
+target_compile_definitions(dummy_perception_publisher_node PRIVATE ${PCL_DEFINITIONS})
+target_include_directories(dummy_perception_publisher_node PRIVATE ${PCL_INCLUDE_DIRS})
+# Unfortunately, this one can't be PRIVATE because only the plain or only the
+# keyword (PRIVATE) signature of target_link_libraries can be used for one
+# target, not both. The plain signature is already used inside
+# `ament_target_dependencies` and possibly rosidl_target_interfaces.
+target_link_libraries(dummy_perception_publisher_node ${PCL_LIBRARIES})
+target_link_directories(dummy_perception_publisher_node PRIVATE ${PCL_LIBRARY_DIRS})
+
+
+ament_auto_add_executable(empty_objects_publisher
+  src/empty_objects_publisher.cpp
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_auto_package(
+  INSTALL_TO_SHARE
+  launch
+)
diff --git a/simulator/dummy_perception_publisher/README.md b/simulator/dummy_perception_publisher/README.md
@@ -0,0 +1,44 @@
+# dummy_perception_publisher
+
+## Purpose
+
+This node publishes the result of the dummy detection with the type of perception.
+
+## Inner-workings / Algorithms
+
+## Inputs / Outputs
+
+### Input
+
+| Name           | Type                                      | Description             |
+| -------------- | ----------------------------------------- | ----------------------- |
+| `/tf`          | `tf2_msgs/TFMessage`                      | TF (self-pose)          |
+| `input/object` | `dummy_perception_publisher::msg::Object` | dummy detection objects |
+
+### Output
+
+| Name                    | Type                                                        | Description            |
+| ----------------------- | ----------------------------------------------------------- | ---------------------- |
+| `output/dynamic_object` | `autoware_perception_msgs::msg::DetectedObjectsWithFeature` | Publishes objects      |
+| `output/points_raw`     | `sensor_msgs::msg::PointCloud2`                             | point cloud of objects |
+
+## Parameters
+
+| Name                        | Type   | Default Value | Explanation                                 |
+| --------------------------- | ------ | ------------- | ------------------------------------------- |
+| `visible_range`             | double | 100.0         | sensor visible range [m]                    |
+| `detection_successful_rate` | double | 0.8           | sensor detection rate. (min) 0.0 - 1.0(max) |
+| `enable_ray_tracing`        | bool   | true          | if True, use ray tracking                   |
+| `use_object_recognition`    | bool   | true          | if True, publish objects topic              |
+
+### Node Parameters
+
+None.
+
+### Core Parameters
+
+None.
+
+## Assumptions / Known limits
+
+TBD.
diff --git a/simulator/dummy_perception_publisher/include/dummy_perception_publisher/node.hpp b/simulator/dummy_perception_publisher/include/dummy_perception_publisher/node.hpp
@@ -0,0 +1,69 @@
+// Copyright 2020 Tier IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef DUMMY_PERCEPTION_PUBLISHER__NODE_HPP_
+#define DUMMY_PERCEPTION_PUBLISHER__NODE_HPP_
+
+#include "dummy_perception_publisher/msg/object.hpp"
+
+#include <rclcpp/rclcpp.hpp>
+
+#include <autoware_auto_perception_msgs/msg/detected_objects.hpp>
+#include <autoware_perception_msgs/msg/detected_objects_with_feature.hpp>
+#include <sensor_msgs/msg/point_cloud2.hpp>
+
+#include <pcl/common/distances.h>
+#include <pcl/point_types.h>
+#include <pcl_conversions/pcl_conversions.h>
+#include <tf2/LinearMath/Transform.h>
+#include <tf2/convert.h>
+#include <tf2/transform_datatypes.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#include <tf2_ros/buffer.h>
+#include <tf2_ros/transform_listener.h>
+
+#include <random>
+#include <vector>
+
+class DummyPerceptionPublisherNode : public rclcpp::Node
+{
+private:
+  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr pointcloud_pub_;
+  rclcpp::Publisher<autoware_perception_msgs::msg::DetectedObjectsWithFeature>::SharedPtr
+    detected_object_with_feature_pub_;
+  rclcpp::Subscription<dummy_perception_publisher::msg::Object>::SharedPtr object_sub_;
+  rclcpp::TimerBase::SharedPtr timer_;
+  tf2_ros::Buffer tf_buffer_;
+  tf2_ros::TransformListener tf_listener_;
+  std::vector<dummy_perception_publisher::msg::Object> objects_;
+  double visible_range_;
+  double detection_successful_rate_;
+  bool enable_ray_tracing_;
+  bool use_object_recognition_;
+  bool use_real_param_;
+  std::mt19937 random_generator_;
+  void timerCallback();
+  void createObjectPointcloud(
+    const double length, const double width, const double height, const double std_dev_x,
+    const double std_dev_y, const double std_dev_z,
+    const tf2::Transform & tf_base_link2moved_object,
+    pcl::PointCloud<pcl::PointXYZ>::Ptr & pointcloud_ptr);
+  void objectCallback(const dummy_perception_publisher::msg::Object::ConstSharedPtr msg);
+
+public:
+  DummyPerceptionPublisherNode();
+  ~DummyPerceptionPublisherNode() {}
+};
+
+#endif  // DUMMY_PERCEPTION_PUBLISHER__NODE_HPP_
diff --git a/simulator/dummy_perception_publisher/launch/dummy_perception_publisher.launch.xml b/simulator/dummy_perception_publisher/launch/dummy_perception_publisher.launch.xml
@@ -0,0 +1,97 @@
+<?xml version="1.0" ?>
+
+<launch>
+  <!-- dummy detection and sensor data -->
+  <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"/>
+    <group if="$(var real)">
+      <node pkg="dummy_perception_publisher" exec="dummy_perception_publisher_node" name="dummy_perception_publisher" output="screen">
+        <remap from="output/dynamic_object" to="/perception/object_recognition/detection/labeled_clusters" />
+        <remap from="output/objects_pose" to="debug/object_pose" />
+        <remap from="output/points_raw" to="/perception/obstacle_segmentation/pointcloud" />
+        <remap from="input/object" to="dummy_perception_publisher/object_info" />
+        <remap from="input/reset" to="input/reset" />
+        <param name="visible_range" value="$(var visible_range)" />
+        <param name="detection_successful_rate" value="0.999" />
+        <param name="enable_ray_tracing" value="true" />
+        <param name="use_object_recognition" value="$(var use_object_recognition)" />
+      </node>
+      <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
+        <arg name="input/objects" value="/perception/object_recognition/detection/labeled_clusters" />
+        <arg name="output/objects" value="/perception/object_recognition/detection/objects_with_feature" />
+      </include>
+    </group>
+    <group unless="$(var real)">
+      <node pkg="dummy_perception_publisher" exec="dummy_perception_publisher_node" name="dummy_perception_publisher" output="screen">
+        <remap from="output/dynamic_object" to="/perception/object_recognition/detection/objects_with_feature" />
+        <remap from="output/objects_pose" to="debug/object_pose" />
+        <remap from="output/points_raw" to="/perception/obstacle_segmentation/pointcloud" />
+        <remap from="input/object" to="dummy_perception_publisher/object_info" />
+        <remap from="input/reset" to="input/reset" />
+        <param name="visible_range" value="$(var visible_range)" />
+        <param name="detection_successful_rate" value="1.0" />
+        <param name="enable_ray_tracing" value="false" />
+        <param name="use_object_recognition" value="$(var use_object_recognition)" />
+      </node>
+    </group>
+
+    <!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
+    <include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
+      <arg name="input" value="/perception/object_recognition/detection/objects_with_feature" />
+      <arg name="output" value="/perception/object_recognition/detection/objects" />
+    </include>
+
+  </group>
+
+  <!-- perception module -->
+  <group>
+    <push-ros-namespace namespace="perception"/>
+    <!-- object segmentation module -->
+    <group>
+      <push-ros-namespace namespace="obstacle_segmentation"/>
+      <!-- Occupancy Grid -->
+      <include file="$(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" />
+      </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 perception_launch)/launch/object_recognition/tracking/tracking.launch.xml">
+        </include>
+      </group>
+      <!-- prediction module -->
+      <group>
+        <push-ros-namespace namespace="prediction"/>
+        <include file="$(find-pkg-share perception_launch)/launch/object_recognition/prediction/prediction.launch.xml">
+          <arg name="use_vector_map" value="true" />
+        </include>
+      </group>
+    </group>
+
+    <group unless="$(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 perception_launch)/launch/traffic_light_recognition/traffic_light.launch.xml"></include>
+    </group>
+  </group>
+</launch>
diff --git a/simulator/dummy_perception_publisher/msg/InitialState.msg b/simulator/dummy_perception_publisher/msg/InitialState.msg
@@ -0,0 +1,2 @@
+geometry_msgs/PoseWithCovariance pose_covariance
+geometry_msgs/TwistWithCovariance twist_covariance
diff --git a/simulator/dummy_perception_publisher/msg/Object.msg b/simulator/dummy_perception_publisher/msg/Object.msg
@@ -0,0 +1,11 @@
+std_msgs/Header header
+unique_identifier_msgs/UUID id
+dummy_perception_publisher/InitialState initial_state
+autoware_auto_perception_msgs/ObjectClassification classification
+autoware_auto_perception_msgs/Shape shape
+
+uint8 ADD=0
+uint8 MODIFY=1
+uint8 DELETE=2
+uint8 DELETEALL=3
+int32 action
diff --git a/simulator/dummy_perception_publisher/package.xml b/simulator/dummy_perception_publisher/package.xml
@@ -0,0 +1,38 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>dummy_perception_publisher</name>
+  <version>0.1.0</version>
+  <description>The dummy_perception_publisher package</description>
+
+  <maintainer email="[email protected]">Yukihiro Saito</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <build_depend>rosidl_default_generators</build_depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_lint_common</test_depend>
+
+  <depend>autoware_auto_perception_msgs</depend>
+  <depend>autoware_perception_msgs</depend>
+  <depend>geometry_msgs</depend>
+  <depend>libpcl-all-dev</depend>
+  <depend>pcl_conversions</depend>
+  <depend>rclcpp</depend>
+  <depend>sensor_msgs</depend>
+  <depend>std_msgs</depend>
+  <depend>tf2</depend>
+  <depend>tf2_geometry_msgs</depend>
+  <depend>tf2_ros</depend>
+  <depend>unique_identifier_msgs</depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>