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chore(radar_crossing_objects_noise_filter): add config file #6210

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merged 7 commits into from
Feb 1, 2024
Merged

chore(radar_crossing_objects_noise_filter): add config file #6210

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110b9fd
chore(radar_crossing_objects_noise_filter): add config file
scepter914 Jan 25, 2024
112f2de
bug fix
scepter914 Jan 27, 2024
e5f8d64
merge main branch
scepter914 Jan 29, 2024
c80fcdb
merge main branch
scepter914 Jan 29, 2024
fafa428
Merge branch 'main' into fix/radar_crossing_filter_add_config
scepter914 Jan 29, 2024
59dd67f
Merge branch 'main' into fix/radar_crossing_filter_add_config
scepter914 Jan 30, 2024
e0af658
Merge branch 'main' into fix/radar_crossing_filter_add_config
scepter914 Feb 1, 2024
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5 changes: 3 additions & 2 deletions launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
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Expand Up @@ -75,8 +75,7 @@
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/radar_detector.launch.xml">
<arg name="input/radar" value="$(var input/radar)"/>
<arg name="output/objects" value="far_objects"/>
<arg name="filter/angle_threshold" value="1.0472"/>
<arg name="filter/velocity_threshold" value="3.0"/>
<arg name="radar_crossing_objects_noise_filter_param_path" value="$(var object_recognition_detection_radar_crossing_objects_noise_filter_param_path)"/>
<arg name="object_velocity_splitter_param_path" value="$(var object_recognition_detection_object_velocity_splitter_radar_fusion_param_path)"/>
<arg name="object_range_splitter_param_path" value="$(var object_recognition_detection_object_range_splitter_radar_fusion_param_path)"/>
<arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
Expand Down Expand Up @@ -177,6 +176,7 @@
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/radar_detector.launch.xml">
<arg name="input/radar" value="$(var input/radar)"/>
<arg name="output/objects" value="far_objects"/>
<arg name="radar_crossing_objects_noise_filter_param_path" value="$(var object_recognition_detection_radar_crossing_objects_noise_filter_param_path)"/>
<arg name="object_velocity_splitter_param_path" value="$(var object_recognition_detection_object_velocity_splitter_radar_fusion_param_path)"/>
<arg name="object_range_splitter_param_path" value="$(var object_recognition_detection_object_range_splitter_radar_fusion_param_path)"/>
<arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
Expand Down Expand Up @@ -238,6 +238,7 @@
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/radar_detector.launch.xml">
<arg name="input/radar" value="$(var input/radar)"/>
<arg name="output/objects" value="objects"/>
<arg name="radar_crossing_objects_noise_filter_param_path" value="$(var object_recognition_detection_radar_crossing_objects_noise_filter_param_path)"/>
<arg name="object_velocity_splitter_param_path" value="$(var object_recognition_detection_object_velocity_splitter_radar_param_path)"/>
<arg name="object_range_splitter_param_path" value="$(var object_recognition_detection_object_range_splitter_radar_param_path)"/>
<arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
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6 changes: 2 additions & 4 deletions ..._perception_launch/launch/object_recognition/detection/detector/radar_detector.launch.xml
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Expand Up @@ -2,8 +2,7 @@
<launch>
<arg name="input/radar" default="/sensing/radar/detected_objects"/>
<arg name="output/objects" default="far_objects"/>
<arg name="filter/angle_threshold" default="1.221"/>
<arg name="filter/velocity_threshold" default="1.5"/>
<arg name="radar_crossing_objects_noise_filter_param_path"/>
<arg name="object_velocity_splitter_param_path" default="$(var object_recognition_detection_object_velocity_splitter_radar_param_path)"/>
<arg name="object_range_splitter_param_path" default="$(var object_recognition_detection_object_range_splitter_radar_param_path)"/>
<arg name="radar_lanelet_filtering_range_param" default="$(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml"/>
Expand All @@ -14,8 +13,7 @@
<arg name="input/objects" value="$(var input/radar)"/>
<arg name="output/noise_objects" value="noise_objects"/>
<arg name="output/filtered_objects" value="noise_filtered_objects"/>
<arg name="angle_threshold" value="$(var filter/angle_threshold)"/>
<arg name="velocity_threshold" value="$(var filter/velocity_threshold)"/>
<arg name="param_path" value="$(var radar_crossing_objects_noise_filter_param_path)"/>
</include>

<include file="$(find-pkg-share object_velocity_splitter)/launch/object_velocity_splitter.launch.xml">
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1 change: 1 addition & 0 deletions launch/tier4_perception_launch/launch/perception.launch.xml
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Expand Up @@ -14,6 +14,7 @@
<arg name="object_recognition_detection_roi_pointcloud_fusion_param_path"/>
<arg name="object_recognition_detection_roi_detected_object_fusion_param_path"/>
<arg name="object_recognition_detection_lidar_model_param_path"/>
<arg name="object_recognition_detection_radar_crossing_objects_noise_filter_param_path"/>
<arg name="object_recognition_detection_radar_lanelet_filtering_range_param"/>
<arg name="object_recognition_detection_radar_object_clustering_param_path"/>
<arg name="object_recognition_detection_object_velocity_splitter_radar_param_path"/>
Expand Down
1 change: 1 addition & 0 deletions perception/radar_crossing_objects_noise_filter/CMakeLists.txt
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Expand Up @@ -37,4 +37,5 @@ endif()
ament_auto_package(
INSTALL_TO_SHARE
launch
config
)
4 changes: 4 additions & 0 deletions ...radar_crossing_objects_noise_filter/config/radar_crossing_objects_noise_filter.param.yaml
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@@ -0,0 +1,4 @@
/**:
ros__parameters:
angle_threshold: 1.2210
velocity_threshold: 1.5
6 changes: 2 additions & 4 deletions ...radar_crossing_objects_noise_filter/launch/radar_crossing_objects_noise_filter.launch.xml
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Expand Up @@ -5,15 +5,13 @@
<arg name="output/noise_objects" default="~/output/noise_objects"/>
<arg name="output/filtered_objects" default="~/output/filtered_objects"/>
<!-- Parameter -->
<arg name="angle_threshold" default="1.0472"/>
<arg name="velocity_threshold" default="3.0"/>
<arg name="param_path" default="$(find-pkg-share radar_crossing_objects_noise_filter)/config/radar_crossing_objects_noise_filter.param.yaml"/>

<!-- Node -->
<node pkg="radar_crossing_objects_noise_filter" exec="radar_crossing_objects_noise_filter_node" name="radar_crossing_objects_noise_filter" output="screen">
<remap from="~/input/objects" to="$(var input/objects)"/>
<remap from="~/output/noise_objects" to="$(var output/noise_objects)"/>
<remap from="~/output/filtered_objects" to="$(var output/filtered_objects)"/>
<param name="angle_threshold" value="$(var angle_threshold)"/>
<param name="velocity_threshold" value="$(var velocity_threshold)"/>
<param from="$(var param_path)"/>
</node>
</launch>
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