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chore(tier4_perception_launch): fix arg name radar lanelet filter #6215

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merged 5 commits into from
Feb 1, 2024
Merged

chore(tier4_perception_launch): fix arg name radar lanelet filter #6215

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1fdaa29
chore(tier4_perception_launch): fix arg name radar lanelet filter
scepter914 Jan 29, 2024
61cf8e6
Merge branch 'main' into chore/radar_lanelet_filter_param
scepter914 Jan 29, 2024
fafd527
Merge branch 'main' into chore/radar_lanelet_filter_param
scepter914 Jan 30, 2024
4677505
Merge branch 'main' into chore/radar_lanelet_filter_param
scepter914 Feb 1, 2024
feb2f6d
Merge branch 'main' into chore/radar_lanelet_filter_param
scepter914 Feb 1, 2024
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8 changes: 3 additions & 5 deletions launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
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Expand Up @@ -31,8 +31,6 @@

<!-- Radar parameters -->
<arg name="input/radar" default="/sensing/radar/detected_objects"/>
<arg name="radar_lanelet_filtering_range_param" default="$(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml"/>
<arg name="radar_object_clustering_param_path" default="$(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml"/>
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<!-- Camera-Lidar-Radar fusion based detection -->
<group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_radar_fusion&quot;')">
Expand Down Expand Up @@ -77,9 +75,9 @@
<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_lanelet_filtering_range_param_path" value="$(var radar_lanelet_filtering_range_param_path)"/>
<arg name="object_velocity_splitter_param_path" value="$(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)"/>
<arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
</include>
</group>
Expand Down Expand Up @@ -177,9 +175,9 @@
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/radar_detector.launch.xml">
<arg name="input/radar" value="$(var input/radar)"/>
<arg name="output/objects" value="far_objects"/>
<arg name="radar_lanelet_filtering_range_param_path" value="$(var radar_lanelet_filtering_range_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="$(var radar_lanelet_filtering_range_param)"/>
<arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
</include>
</group>
Expand Down Expand Up @@ -238,9 +236,9 @@
<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_lanelet_filtering_range_param_path" value="$(var radar_lanelet_filtering_range_param_path)"/>
<arg name="object_velocity_splitter_param_path" value="$(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)"/>
<arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
</include>
</group>
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2 changes: 1 addition & 1 deletion ..._perception_launch/launch/object_recognition/detection/detector/radar_detector.launch.xml
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Expand Up @@ -35,7 +35,7 @@
<include file="$(find-pkg-share detected_object_validation)/launch/object_lanelet_filter.launch.xml">
<arg name="input/object" value="far_high_speed_objects"/>
<arg name="output/object" value="lanelet_filtered_objects"/>
<arg name="filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
<arg name="filtering_range_param_path" value="$(var radar_lanelet_filtering_range_param_path)"/>
</include>

<include file="$(find-pkg-share radar_object_clustering)/launch/radar_object_clustering.launch.xml">
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4 changes: 2 additions & 2 deletions launch/tier4_perception_launch/launch/perception.launch.xml
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Expand Up @@ -14,7 +14,7 @@
<arg name="object_recognition_detection_roi_pointcloud_fusion_param_path"/>
<arg name="object_recognition_detection_roi_detected_object_fusion_param_path"/>
<arg name="object_recognition_detection_lidar_model_param_path"/>
<arg name="object_recognition_detection_radar_lanelet_filtering_range_param"/>
<arg name="object_recognition_detection_radar_lanelet_filtering_range_param_path"/>
<arg name="object_recognition_detection_radar_object_clustering_param_path"/>
<arg name="object_recognition_detection_object_velocity_splitter_radar_param_path"/>
<arg name="object_recognition_detection_object_velocity_splitter_radar_fusion_param_path"/>
Expand Down Expand Up @@ -189,7 +189,7 @@
<arg name="euclidean_param_path" value="$(var object_recognition_detection_euclidean_cluster_param_path)"/>
<arg name="outlier_param_path" value="$(var object_recognition_detection_outlier_param_path)"/>
<arg name="voxel_grid_based_euclidean_param_path" value="$(var object_recognition_detection_voxel_grid_based_euclidean_cluster_param_path)"/>
<arg name="radar_lanelet_filtering_range_param" value="$(var object_recognition_detection_radar_lanelet_filtering_range_param)"/>
<arg name="radar_lanelet_filtering_range_param_path" value="$(var object_recognition_detection_radar_lanelet_filtering_range_param_path)"/>
<arg name="radar_object_clustering_param_path" value="$(var object_recognition_detection_radar_object_clustering_param_path)"/>
<arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>

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