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chore(traffic_light): cherry pick traffic light launcher updates #692

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Aug 1, 2023
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chore(traffic_light): cherry pick traffic light launcher updates #692

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94183a1
feat(tier4_perception_launch): update traffic light launch (#4176)
Mingyu1991 Jul 8, 2023
bd091e5
fix(traffic_light): fix traffic_light_arbiter pipeline (#4393)
1222-takeshi Jul 27, 2023
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4 changes: 4 additions & 0 deletions launch/tier4_perception_launch/launch/perception.launch.xml
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Expand Up @@ -50,6 +50,8 @@
<!-- Traffic Light Recognition Parameters -->
<arg name="use_traffic_light_recognition" default="true"/>
<arg name="traffic_light_recognition/enable_fine_detection" default="true"/>
<arg name="traffic_light_recognition/fusion_only" default="false"/>
<arg name="traffic_light_image_number" default="1" description="choose traffic light image raw number(1-2)"/>
<!-- Camera Lidar Fusion Parameters -->
<arg name="remove_unknown" default="true"/>
<arg name="trust_distance" default="30.0"/>
Expand Down Expand Up @@ -149,6 +151,8 @@
<push-ros-namespace namespace="traffic_light_recognition"/>
<include file="$(find-pkg-share tier4_perception_launch)/launch/traffic_light_recognition/traffic_light.launch.xml">
<arg name="enable_fine_detection" value="$(var traffic_light_recognition/enable_fine_detection)"/>
<arg name="fusion_only" value="$(var traffic_light_recognition/fusion_only)"/>
<arg name="image_number" value="$(var traffic_light_image_number)"/>
</include>
</group>
</group>
Expand Down
155 changes: 105 additions & 50 deletions launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml
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Expand Up @@ -2,84 +2,139 @@
<launch>
<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="fusion_only" default="false" description="launch only occlusion_predictor and multi_camera_fusion"/>
<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="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="input/cloud" default="/sensing/lidar/top/pointcloud_raw" description="point cloud for occlusion prediction"/>
<arg name="internal/traffic_signals" default="/perception/traffic_light_recognition/internal/traffic_signals"/>
<arg name="external/traffic_signals" default="/perception/traffic_light_recognition/external/traffic_signals"/>
<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"/>
<let name="namespace1" value="camera6"/>
<let name="namespace2" value="camera7"/>
<let name="all_camera_namespaces" value="[$(var namespace1), $(var namespace2)]"/>
<!-- camera 6 TLR pipeline -->
<arg name="image_number" default="1" description="choose image raw number(1-2)"/>
<arg name="namespace1" default="camera6"/>
<arg name="namespace2" default="camera7"/>
<let name="all_camera_namespaces" value="[$(var namespace1)]" if="$(eval &quot; '$(var image_number)' == '1' &quot;)"/>
<let name="all_camera_namespaces" value="[$(var namespace1), $(var namespace2)]" if="$(eval &quot; '$(var image_number)' >= '2' &quot;)"/>
<!-- namespace1 camera TLR pipeline -->
<group>
<push-ros-namespace namespace="$(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="output/rois1" value="/perception/traffic_light_recognition/$(var namespace1)/detection/rois"/>
<let name="output/traffic_signals1" value="/perception/traffic_light_recognition/$(var namespace1)/classification/traffic_signals"/>
<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 unless="$(var fusion_only)">
<node pkg="topic_tools" exec="relay" name="traffic_light_camra_info_relay" args="$(var input/camera_info) camera_info"/>

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<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)"/>
<arg name="enable_image_decompressor" value="$(var enable_image_decompressor)"/>
<arg name="enable_fine_detection" value="$(var enable_fine_detection)"/>
<arg name="use_crosswalk_traffic_light_estimator" value="$(var use_crosswalk_traffic_light_estimator)"/>
<arg name="use_intra_process" value="true"/>
<arg name="use_multithread" value="true"/>
<arg name="fine_detector_label_path" value="$(var fine_detector_label_path)"/>
<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="$(var classifier_model_path)"/>
</include>
<include file="$(find-pkg-share tier4_perception_launch)/launch/traffic_light_recognition/traffic_light_node_container.launch.py">
<arg name="input/image" value="$(var input/image)"/>
<arg name="enable_image_decompressor" value="$(var enable_image_decompressor)"/>
<arg name="enable_fine_detection" value="$(var enable_fine_detection)"/>
<arg name="use_crosswalk_traffic_light_estimator" value="$(var use_crosswalk_traffic_light_estimator)"/>
<arg name="use_intra_process" value="true"/>
<arg name="use_multithread" value="true"/>
<arg name="fine_detector_label_path" value="$(var fine_detector_label_path)"/>
<arg name="fine_detector_model_path" value="$(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>

<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="$(var output/traffic_signals1)"/>
</include>
</group>
</group>
<!-- camera 7 TLR pipeline -->
<group>
<!-- namespace2 camera TLR pipeline -->
<group if="$(eval &quot; '$(var image_number)' >= '2' &quot;)">
<push-ros-namespace namespace="$(var namespace2)"/>
<let name="input/image" value="/sensing/camera/$(var namespace2)/image_raw"/>
<let name="input/camera_info" value="/sensing/camera/$(var namespace2)/camera_info"/>
<let name="output/rois2" value="/perception/traffic_light_recognition/$(var namespace2)/detection/rois"/>
<let name="output/traffic_signals2" value="/perception/traffic_light_recognition/$(var namespace2)/classification/traffic_signals"/>
<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)"/>

<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 unless="$(var fusion_only)">
<node pkg="topic_tools" exec="relay" name="traffic_light_camra_info_relay" args="$(var input/camera_info) camera_info"/>

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<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)"/>
<arg name="enable_image_decompressor" value="$(var enable_image_decompressor)"/>
<arg name="enable_fine_detection" value="$(var enable_fine_detection)"/>
<arg name="use_crosswalk_traffic_light_estimator" value="$(var use_crosswalk_traffic_light_estimator)"/>
<arg name="use_intra_process" value="true"/>
<arg name="use_multithread" value="true"/>
<arg name="fine_detector_label_path" value="$(var fine_detector_label_path)"/>
<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="$(var classifier_model_path)"/>
</include>
<include file="$(find-pkg-share tier4_perception_launch)/launch/traffic_light_recognition/traffic_light_node_container.launch.py">
<arg name="input/image" value="$(var input/image)"/>
<arg name="enable_image_decompressor" value="$(var enable_image_decompressor)"/>
<arg name="enable_fine_detection" value="$(var enable_fine_detection)"/>
<arg name="use_crosswalk_traffic_light_estimator" value="$(var use_crosswalk_traffic_light_estimator)"/>
<arg name="use_intra_process" value="true"/>
<arg name="use_multithread" value="true"/>
<arg name="fine_detector_label_path" value="$(var fine_detector_label_path)"/>
<arg name="fine_detector_model_path" value="$(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>

<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>
<node pkg="traffic_light_multi_camera_fusion" exec="traffic_light_multi_camera_fusion_node" name="traffic_light_multi_camera_fusion" output="screen">
<param name="camera_namespaces" value="$(var all_camera_namespaces)"/>
<param name="perform_group_fusion" value="true"/>
<remap from="~/input/vector_map" to="/map/vector_map"/>
<remap from="~/output/traffic_signals" to="$(var output/traffic_signals)"/>
<remap from="~/output/traffic_signals" to="$(var internal/traffic_signals)"/>
</node>
</group>
<!-- V2X fusion -->
<group>
<include file="$(find-pkg-share traffic_light_arbiter)/launch/traffic_light_arbiter.launch.xml">
<arg name="perception_traffic_signals" value="$(var internal/traffic_signals)"/>
<arg name="external_traffic_signals" value="$(var external/traffic_signals)"/>
<arg name="output_traffic_signals" value="$(var output/traffic_signals)"/>
</include>
</group>
<!-- visualizer -->
<group>
<include file="$(find-pkg-share traffic_light_visualization)/launch/traffic_light_map_visualizer.launch.xml"/>
Expand Down
24 changes: 15 additions & 9 deletions ...perception_launch/launch/traffic_light_recognition/traffic_light_node_container.launch.py
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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 @@ -157,11 +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"},
{"type": "autoware_auto_perception_msgs/msg/TrafficSignalArray"},
{"output_topic": "estimated/traffic_signals"},
],
extra_arguments=[
{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}
Expand Down Expand Up @@ -209,12 +214,13 @@ 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
5 changes: 4 additions & 1 deletion launch/tier4_perception_launch/package.xml
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Expand Up @@ -32,9 +32,12 @@
<exec_depend>probabilistic_occupancy_grid_map</exec_depend>
<exec_depend>shape_estimation</exec_depend>
<exec_depend>tensorrt_yolo</exec_depend>
<exec_depend>topic_tools</exec_depend>
<exec_depend>traffic_light_classifier</exec_depend>
<exec_depend>traffic_light_fine_detector</exec_depend>
<exec_depend>traffic_light_map_based_detector</exec_depend>
<exec_depend>traffic_light_ssd_fine_detector</exec_depend>
<exec_depend>traffic_light_multi_camera_fusion</exec_depend>
<exec_depend>traffic_light_occlusion_predictor</exec_depend>
<exec_depend>traffic_light_visualization</exec_depend>

<test_depend>ament_lint_auto</test_depend>
Expand Down
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