feat(perception_launch): add data_path arg to perception launch (#5069)

* feat(perception_launch): add var data_path to perception.launch Signed-off-by: Alexey Panferov <[email protected]> * feat(perception_launch): update default center_point_model_path Signed-off-by: Alexey Panferov <[email protected]> --------- Signed-off-by: Alexey Panferov <[email protected]>
autowarefoundation · Sep 28, 2023 · 952753f · 952753f
1 parent aa90375
commit 952753f
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Showing 2 changed files with 5 additions and 4 deletions.
diff --git a/...r4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/...r4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
@@ -10,7 +10,7 @@
   <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
   <arg name="lidar_detection_score_threshold" default="0.35"/>
   <arg name="centerpoint_model_name" default="centerpoint_tiny"/>
-  <arg name="centerpoint_model_path" default="$(find-pkg-share lidar_centerpoint)/data"/>
+  <arg name="centerpoint_model_path" default="$(var data_path)/lidar_centerpoint"/>
   <arg name="lidar_model_param_path" default="$(find-pkg-share lidar_centerpoint)/config"/>
   <arg name="objects_validation_method" default="obstacle_pointcloud"/>
   <arg name="objects_filter_method" default="lanelet_filter"/>

diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -25,11 +25,12 @@
 
   <!-- CenterPoint model parameters -->
   <arg name="centerpoint_model_name" default="centerpoint_tiny" description="options: `centerpoint` or `centerpoint_tiny`"/>
-  <arg name="centerpoint_model_path" default="$(find-pkg-share lidar_centerpoint)/data"/>
+  <arg name="centerpoint_model_path" default="$(var data_path)/lidar_centerpoint"/>
 
   <!-- Common parameters -->
   <arg name="input/pointcloud" default="/sensing/lidar/concatenated/pointcloud" description="The topic will be used in the detection module"/>
   <arg name="mode" default="camera_lidar_fusion" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
+  <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
   <arg name="image_raw0" default="/sensing/camera/camera0/image_rect_color" description="image raw topic name"/>
   <arg name="camera_info0" default="/sensing/camera/camera0/camera_info" description="camera info topic name"/>
@@ -78,11 +79,11 @@
   <arg name="traffic_light_image_number" default="1" description="choose traffic light image raw number(1-2)"/>
   <arg
     name="traffic_light_fine_detector_model_path"
-    default="$(find-pkg-share traffic_light_fine_detector)/data"
+    default="$(var data_path)/traffic_light_fine_detector"
     description="options: `tlr_yolox_s_batch_**`. The batch number must be either one of 1, 4, 6"
   />
   <arg name="traffic_light_fine_detector_model_name" default="tlr_yolox_s_batch_6" description="options: `tlr_yolox_s_batch_**`. The batch number must be either one of 1, 4, 6"/>
-  <arg name="traffic_light_classifier_model_path" default="$(find-pkg-share traffic_light_classifier)/data" description="classifier onnx model path"/>
+  <arg name="traffic_light_classifier_model_path" default="$(var data_path)/traffic_light_classifier" description="classifier onnx model path"/>
   <arg
     name="traffic_light_classifier_model_name"
     default="traffic_light_classifier_mobilenetv2_batch_6"