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feat(tier4_perception_launch): add radar far object integration in tracking stage #5269

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merged 11 commits into from
Oct 16, 2023
Merged

feat(tier4_perception_launch): add radar far object integration in tracking stage #5269

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0ab2c2e
update tracking/perception launch
YoshiRi Jul 21, 2023
abf7925
switch tracker launcher mode with argument
YoshiRi Jul 23, 2023
e219860
update prediction to switch by radar_long_range_integration paramter
YoshiRi Oct 11, 2023
6116a99
make radar far object integration switchable between detection/tracking
YoshiRi Oct 11, 2023
08c305a
fix camera lidar radar fusion flow when 'tracking' is used.
YoshiRi Oct 11, 2023
5468d1e
fix spelling and appearance
YoshiRi Oct 12, 2023
4f8b63c
reconstruct topic flow when use tracking to merge far object detectio…
YoshiRi Oct 12, 2023
92b2897
fix input topic miss in tracking.launch
YoshiRi Oct 12, 2023
d3d5e3d
fix comment in camera_lidar_radar fusion
YoshiRi Oct 16, 2023
c1e95dc
refactor: rename and remove paramters in prediction.launch
YoshiRi Oct 16, 2023
d5445dc
refactor: rename merger control variable from string to bool
YoshiRi Oct 16, 2023
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8 changes: 6 additions & 2 deletions .../launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -388,19 +388,23 @@
</include>
</group>

<!-- Switch filter output name by 'radar_long_range_integration' parameter defined in perception.launch -->
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<let name="output_of_filtered_objects" value="$(var output/objects)" if="$(eval &quot; '$(var radar_long_range_integration)'=='tracking' &quot;)"/>
<let name="output_of_filtered_objects" value="near_objects" unless="$(eval &quot; '$(var radar_long_range_integration)'=='tracking' &quot;)"/>

<!-- Filter -->
<group if="$(eval &quot;'$(var objects_filter_method)'=='lanelet_filter'&quot;)">
<include file="$(find-pkg-share detected_object_validation)/launch/object_lanelet_filter.launch.xml" if="$(var use_object_filter)">
<arg name="input/object" value="objects_before_filter"/>
<arg name="output/object" value="near_objects"/>
<arg name="output/object" value="$(var output_of_filtered_objects)"/>
<arg name="filtering_range_param" value="$(var object_recognition_detection_object_lanelet_filter_param_path)"/>
</include>
</group>

<group if="$(eval &quot;'$(var objects_filter_method)'=='position_filter'&quot;)">
<include file="$(find-pkg-share detected_object_validation)/launch/object_position_filter.launch.xml" if="$(var use_object_filter)">
<arg name="input/object" value="objects_before_filter"/>
<arg name="output/object" value="near_objects"/>
<arg name="output/object" value="$(var output_of_filtered_objects)"/>
<arg name="filtering_range_param" value="$(var object_recognition_detection_object_position_filter_param_path)"/>
</include>
</group>
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