enable only tracking and prediction

Signed-off-by: yoshiri <[email protected]>
tier4 · Jun 29, 2023 · d97db40 · d97db40
1 parent efec782
commit d97db40
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Showing 2 changed files with 7 additions and 7 deletions.
diff --git a/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
   <arg name="publish_rate" default="10.0"/>
-  <arg name="enable_delay_compensation" default="true"/>
+  <arg name="enable_delay_compensation" default="false"/>
 
   <group>
     <include file="$(find-pkg-share multi_object_tracker)/launch/multi_object_tracker.launch.xml">

diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -58,7 +58,7 @@
     <push-ros-namespace namespace="perception"/>
 
     <!-- object segmentation module -->
-    <group>
+    <!-- <group>
       <push-ros-namespace namespace="obstacle_segmentation"/>
       <include file="$(find-pkg-share tier4_perception_launch)/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py">
         <arg name="base_frame" value="base_link"/>
@@ -68,10 +68,10 @@
         <arg name="container_name" value="$(var pointcloud_container_name)"/>
         <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       </include>
-    </group>
+    </group> -->
 
     <!-- occupancy grid map module -->
-    <group>
+    <!-- <group>
       <push-ros-namespace namespace="occupancy_grid_map"/>
       <include file="$(find-pkg-share tier4_perception_launch)/launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml">
         <arg name="input/obstacle_pointcloud" value="/perception/obstacle_segmentation/single_frame/pointcloud_raw"/>
@@ -84,13 +84,13 @@
         <arg name="occupancy_grid_map_method" value="$(var occupancy_grid_map_method)"/>
         <arg name="occupancy_grid_map_param_path" value="$(var occupancy_grid_map_param_path)"/>
       </include>
-    </group>
+    </group> -->
 
     <!-- object recognition module -->
     <group unless="$(var use_empty_dynamic_object_publisher)">
       <push-ros-namespace namespace="object_recognition"/>
       <!-- detection module -->
-      <group>
+      <!-- <group>
         <push-ros-namespace namespace="detection"/>
         <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detection.launch.xml">
           <arg name="mode" value="$(var mode)"/>
@@ -120,7 +120,7 @@
           <arg name="remove_unknown" value="$(var remove_unknown)"/>
           <arg name="trust_distance" value="$(var trust_distance)"/>
         </include>
-      </group>
+      </group> -->
       <!-- tracking module -->
       <group>
         <push-ros-namespace namespace="tracking"/>