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feat(tier4_simulator_launch): add option to disable all perception related modules #6382

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Mar 13, 2024
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feat(tier4_simulator_launch): add option to disable all perception related modules #6382

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171 changes: 87 additions & 84 deletions launch/tier4_simulator_launch/launch/simulator.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,7 @@
<arg name="occupancy_grid_map_updater"/>
<arg name="occupancy_grid_map_updater_param_path"/>
<arg name="pose_initializer_param_path"/>

<arg name="launch_simulator_perception_modules" default="true"/>
<arg name="launch_dummy_perception"/>
<arg name="launch_dummy_vehicle"/>
<arg name="launch_dummy_localization"/>
Expand All @@ -26,97 +26,100 @@

<let name="vehicle_model_pkg" value="$(find-pkg-share $(var vehicle_model)_description)"/>

<group if="$(var scenario_simulation)">
<include file="$(find-pkg-share fault_injection)/launch/fault_injection.launch.xml">
<arg name="config_file" value="$(var fault_injection_param_path)"/>
</include>
</group>
<group if="$(var launch_simulator_perception_modules)">
<group if="$(var scenario_simulation)">
<include file="$(find-pkg-share fault_injection)/launch/fault_injection.launch.xml">
<arg name="config_file" value="$(var fault_injection_param_path)"/>
</include>
</group>

<!-- Dummy Perception -->
<group if="$(var launch_dummy_perception)">
<include file="$(find-pkg-share dummy_perception_publisher)/launch/dummy_perception_publisher.launch.xml">
<arg name="real" value="$(var perception/enable_detection_failure)"/>
<arg name="use_object_recognition" value="$(var perception/enable_object_recognition)"/>
<arg name="use_base_link_z" value="$(var perception/use_base_link_z)"/>
<arg name="visible_range" value="$(var sensing/visible_range)"/>
</include>
</group>
<group unless="$(var scenario_simulation)">
<!-- Occupancy Grid -->
<push-ros-namespace namespace="occupancy_grid_map"/>
<include file="$(find-pkg-share tier4_perception_launch)/launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml">
<arg name="input_obstacle_pointcloud" value="true"/>
<arg name="input_obstacle_and_raw_pointcloud" value="false"/>
<arg name="input/obstacle_pointcloud" value="/perception/obstacle_segmentation/pointcloud"/>
<arg name="output" value="/perception/occupancy_grid_map/map"/>
<arg name="occupancy_grid_map_method" value="laserscan_based_occupancy_grid_map"/>
<arg name="occupancy_grid_map_param_path" value="$(var laserscan_based_occupancy_grid_map_param_path)"/>
<arg name="occupancy_grid_map_updater" value="$(var occupancy_grid_map_updater)"/>
<arg name="occupancy_grid_map_updater_param_path" value="$(var occupancy_grid_map_updater_param_path)"/>
</include>
</group>
<!-- Dummy Perception -->
<group if="$(var launch_dummy_perception)">
<include file="$(find-pkg-share dummy_perception_publisher)/launch/dummy_perception_publisher.launch.xml">
<arg name="real" value="$(var perception/enable_detection_failure)"/>
<arg name="use_object_recognition" value="$(var perception/enable_object_recognition)"/>
<arg name="use_base_link_z" value="$(var perception/use_base_link_z)"/>
<arg name="visible_range" value="$(var sensing/visible_range)"/>
</include>
</group>

<!-- perception module -->
<group>
<push-ros-namespace namespace="perception"/>
<!-- object recognition -->
<group if="$(var perception/enable_object_recognition)">
<push-ros-namespace namespace="object_recognition"/>
<!-- tracking module -->
<group>
<push-ros-namespace namespace="tracking"/>
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/tracking/tracking.launch.xml">
<arg
name="object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path"
value="$(var object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path)"
/>
<arg name="object_recognition_tracking_radar_object_tracker_tracking_setting_param_path" value="$(var object_recognition_tracking_radar_object_tracker_tracking_setting_param_path)"/>
<arg name="object_recognition_tracking_radar_object_tracker_node_param_path" value="$(var object_recognition_tracking_radar_object_tracker_node_param_path)"/>
<arg name="object_recognition_tracking_object_merger_data_association_matrix_param_path" value="$(var object_recognition_tracking_object_merger_data_association_matrix_param_path)"/>
<arg name="object_recognition_tracking_object_merger_node_param_path" value="$(var object_recognition_tracking_object_merger_node_param_path)"/>
</include>
</group>
<!-- prediction module -->
<group>
<push-ros-namespace namespace="prediction"/>
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/prediction/prediction.launch.xml">
<arg name="use_vector_map" value="true"/>
</include>
</group>
<group unless="$(var scenario_simulation)">
<!-- Occupancy Grid -->
<push-ros-namespace namespace="occupancy_grid_map"/>
<include file="$(find-pkg-share tier4_perception_launch)/launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml">
<arg name="input_obstacle_pointcloud" value="true"/>
<arg name="input_obstacle_and_raw_pointcloud" value="false"/>
<arg name="input/obstacle_pointcloud" value="/perception/obstacle_segmentation/pointcloud"/>
<arg name="output" value="/perception/occupancy_grid_map/map"/>
<arg name="occupancy_grid_map_method" value="laserscan_based_occupancy_grid_map"/>
<arg name="occupancy_grid_map_param_path" value="$(var laserscan_based_occupancy_grid_map_param_path)"/>
<arg name="occupancy_grid_map_updater" value="$(var occupancy_grid_map_updater)"/>
<arg name="occupancy_grid_map_updater_param_path" value="$(var occupancy_grid_map_updater_param_path)"/>
</include>
</group>

<!-- perception evaluator -->
<!-- perception module -->
<group>
<include file="$(find-pkg-share perception_online_evaluator)/launch/perception_online_evaluator.launch.xml"/>
</group>
<push-ros-namespace namespace="perception"/>
<!-- object recognition -->
<group if="$(var perception/enable_object_recognition)">
<push-ros-namespace namespace="object_recognition"/>
<!-- tracking module -->
<group>
<push-ros-namespace namespace="tracking"/>
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/tracking/tracking.launch.xml">
<arg
name="object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path"
value="$(var object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path)"
/>
<arg name="object_recognition_tracking_radar_object_tracker_tracking_setting_param_path" value="$(var object_recognition_tracking_radar_object_tracker_tracking_setting_param_path)"/>
<arg name="object_recognition_tracking_radar_object_tracker_node_param_path" value="$(var object_recognition_tracking_radar_object_tracker_node_param_path)"/>
<arg name="object_recognition_tracking_object_merger_data_association_matrix_param_path" value="$(var object_recognition_tracking_object_merger_data_association_matrix_param_path)"/>
<arg name="object_recognition_tracking_object_merger_node_param_path" value="$(var object_recognition_tracking_object_merger_node_param_path)"/>
</include>
</group>
<!-- prediction module -->
<group>
<push-ros-namespace namespace="prediction"/>
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/prediction/prediction.launch.xml">
<arg name="use_vector_map" value="true"/>
</include>
</group>
</group>

<!-- publish empty objects instead of object recognition module -->
<group unless="$(var perception/enable_object_recognition)">
<push-ros-namespace namespace="object_recognition"/>
<node pkg="dummy_perception_publisher" exec="empty_objects_publisher" name="empty_objects_publisher" output="screen">
<remap from="~/output/objects" to="/perception/object_recognition/objects"/>
</node>
</group>
<!-- perception evaluator -->
<group>
<include file="$(find-pkg-share perception_online_evaluator)/launch/perception_online_evaluator.launch.xml"/>
</group>

<group if="$(var perception/enable_elevation_map)">
<push-ros-namespace namespace="obstacle_segmentation/elevation_map"/>
<node pkg="elevation_map_loader" exec="elevation_map_loader" name="elevation_map_loader" output="screen">
<remap from="output/elevation_map" to="map"/>
<remap from="input/pointcloud_map" to="/map/pointcloud_map"/>
<remap from="input/vector_map" to="/map/vector_map"/>
<param name="use_lane_filter" value="false"/>
<param name="use_inpaint" value="true"/>
<param name="inpaint_radius" value="1.0"/>
<param name="param_file_path" value="$(var obstacle_segmentation_ground_segmentation_elevation_map_param_path)"/>
<param name="elevation_map_directory" value="$(find-pkg-share elevation_map_loader)/data/elevation_maps"/>
<param name="use_elevation_map_cloud_publisher" value="false"/>
</node>
</group>
<!-- publish empty objects instead of object recognition module -->
<group unless="$(var perception/enable_object_recognition)">
<push-ros-namespace namespace="object_recognition"/>
<node pkg="dummy_perception_publisher" exec="empty_objects_publisher" name="empty_objects_publisher" output="screen">
<remap from="~/output/objects" to="/perception/object_recognition/objects"/>
</node>
</group>

<!-- traffic light module -->
<group if="$(var perception/enable_traffic_light)">
<push-ros-namespace namespace="traffic_light_recognition"/>
<include file="$(find-pkg-share tier4_perception_launch)/launch/traffic_light_recognition/traffic_light.launch.xml"/>
<group if="$(var perception/enable_elevation_map)">
<push-ros-namespace namespace="obstacle_segmentation/elevation_map"/>
<node pkg="elevation_map_loader" exec="elevation_map_loader" name="elevation_map_loader" output="screen">
<remap from="output/elevation_map" to="map"/>
<remap from="input/pointcloud_map" to="/map/pointcloud_map"/>
<remap from="input/vector_map" to="/map/vector_map"/>
<param name="use_lane_filter" value="false"/>
<param name="use_inpaint" value="true"/>
<param name="inpaint_radius" value="1.0"/>
<param name="param_file_path" value="$(var obstacle_segmentation_ground_segmentation_elevation_map_param_path)"/>
<param name="elevation_map_directory" value="$(find-pkg-share elevation_map_loader)/data/elevation_maps"/>
<param name="use_elevation_map_cloud_publisher" value="false"/>
</node>
</group>

<!-- traffic light module -->
<group if="$(var perception/enable_traffic_light)">
<push-ros-namespace namespace="traffic_light_recognition"/>
<include file="$(find-pkg-share tier4_perception_launch)/launch/traffic_light_recognition/traffic_light.launch.xml"/>
</group>
</group>
</group>

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