feat(tier4_perception_launch): add radar far object integration in tracking stage #5269
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Signed-off-by: yoshiri <[email protected]>
Signed-off-by: yoshiri <[email protected]>
Signed-off-by: yoshiri <[email protected]>
Signed-off-by: yoshiri <[email protected]>
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Signed-off-by: yoshiri <[email protected]>
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...nch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
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launch/tier4_perception_launch/launch/object_recognition/prediction/prediction.launch.xml
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Signed-off-by: yoshiri <[email protected]>
…n and near object detection Signed-off-by: yoshiri <[email protected]>
Signed-off-by: yoshiri <[email protected]>
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...nch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
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| <!-- Radar long range integration methods --> | ||
| <arg | ||
| name="radar_long_range_integration" | ||
| default="tracking" |
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[IMO]
Now, we reduced weight by reducing various functions.
I guess radar tracking is a little heavy process (about 20ms processing time), so I want lightweight perception as this default parameter for now.
And I want to put it into operation that if there is enough computational power for project, this parameter can change.
So I think default parameter of should be detection.
If changing to use_radar_tracking_fusion, it should be false.
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Signed-off-by: yoshiri <[email protected]>
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…acking stage (autowarefoundation#5269) * update tracking/perception launch Signed-off-by: yoshiri <[email protected]> * switch tracker launcher mode with argument Signed-off-by: yoshiri <[email protected]> * update prediction to switch by radar_long_range_integration paramter Signed-off-by: yoshiri <[email protected]> * make radar far object integration switchable between detection/tracking Signed-off-by: yoshiri <[email protected]> * fix camera lidar radar fusion flow when 'tracking' is used. Signed-off-by: yoshiri <[email protected]> * fix spelling and appearance Signed-off-by: yoshiri <[email protected]> * reconstruct topic flow when use tracking to merge far object detection and near object detection Signed-off-by: yoshiri <[email protected]> * fix input topic miss in tracking.launch Signed-off-by: yoshiri <[email protected]> * fix comment in camera_lidar_radar fusion Signed-off-by: yoshiri <[email protected]> * refactor: rename and remove paramters in prediction.launch Signed-off-by: yoshiri <[email protected]> * refactor: rename merger control variable from string to bool Signed-off-by: yoshiri <[email protected]> --------- Signed-off-by: yoshiri <[email protected]>
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Description
Use
radar_long_range_integrationparameter to control radar far detection will merged bydetection or tracking.Related links
There are Dependencies in this PR.
Must merge following PRs before merge this PR.
Tests performed
Check the node activated in sample-rosbag simulation.
Notes for reviewers
Interface changes
Effects on system behavior
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