From ba297170bb56a1c3e4c8d163f5c79c55e6adabc0 Mon Sep 17 00:00:00 2001
From: Alexey Panferov <lexavtanke@gmail.com>
Date: Wed, 20 Sep 2023 12:14:59 +0300
Subject: [PATCH] feat(perception): add data_path argument to launch file

Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
---
 autoware_launch/launch/autoware.launch.xml                | 5 ++++-
 .../components/tier4_perception_component.launch.xml      | 8 ++++++--
 autoware_launch/launch/e2e_simulator.launch.xml           | 2 ++
 autoware_launch/launch/logging_simulator.launch.xml       | 1 +
 autoware_launch/launch/planning_simulator.launch.xml      | 2 ++
 5 files changed, 15 insertions(+), 3 deletions(-)

diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index 1a4fbb70f4..9561abb1c8 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -6,6 +6,7 @@
   <arg name="sensor_model" description="sensor model name"/>
   <arg name="use_pointcloud_container" default="true" description="launch pointcloud container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
+  <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
 
   <!-- Optional parameters -->
   <!-- Modules to be launched -->
@@ -89,7 +90,9 @@
 
   <!-- Perception -->
   <group if="$(var launch_perception)">
-    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_perception_component.launch.xml"/>
+    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_perception_component.launch.xml">
+      <arg name="data_path" value="$(var data_path)"/>
+    </include>  
   </group>
 
   <!-- Planning -->
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index 10da418468..6337b75484 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -8,6 +8,8 @@
     default="obstacle_pointcloud"
     description="options: obstacle_pointcloud, occupancy_grid (occupancy_grid_map_method must be laserscan_based_occupancy_grid_map)"
   />
+  <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
+
 
   <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
     <arg name="mode" value="$(var perception_mode)"/>
@@ -19,6 +21,8 @@
     <arg name="occupancy_grid_map_updater" value="$(var occupancy_grid_map_updater)"/>
     <arg name="objects_filter_method" value="$(var detected_objects_filter_method)"/>
     <arg name="objects_validation_method" value="$(var detected_objects_validation_method)"/>
+    <arg name="data_path" value="$(var data_path)"/>
+
 
     <!-- object recognition -->
     <arg
@@ -92,9 +96,9 @@
 
     <!-- traffic light recognition -->
     <arg name="traffic_light_arbiter_param_path" value="$(find-pkg-share autoware_launch)/config/perception/traffic_light_arbiter/traffic_light_arbiter.param.yaml"/>
-    <arg name="traffic_light_fine_detector_model_path" value="$(find-pkg-share traffic_light_fine_detector)/data"/>
+    <arg name="traffic_light_fine_detector_model_path" value="$(var data_path)/traffic_light_fine_detector"/>
     <arg name="traffic_light_fine_detector_model_name" value="tlr_yolox_s_batch_6"/>
-    <arg name="traffic_light_classifier_model_path" value="$(find-pkg-share traffic_light_classifier)/data"/>
+    <arg name="traffic_light_classifier_model_path" value="$(var data_path)/traffic_light_classifier"/>
     <arg name="traffic_light_classifier_model_name" value="traffic_light_classifier_mobilenetv2_batch_6"/>
   </include>
 </launch>
diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
index 9ce8a421e9..5db03b94a9 100644
--- a/autoware_launch/launch/e2e_simulator.launch.xml
+++ b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -4,6 +4,7 @@
   <arg name="map_path" description="point cloud and lanelet2 map directory path"/>
   <arg name="vehicle_model" description="vehicle model name"/>
   <arg name="sensor_model" description="sensor model name"/>
+  <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
 
   <!-- Optional parameters -->
   <!-- Modules to be launched -->
@@ -36,6 +37,7 @@
       <arg name="map_path" value="$(var map_path)"/>
       <arg name="vehicle_model" value="$(var vehicle_model)"/>
       <arg name="sensor_model" value="$(var sensor_model)"/>
+      <arg name="data_path" value="$(var data_path)"/>
       <!-- Modules to be launched -->
       <arg name="launch_vehicle" value="$(var vehicle)"/>
       <arg name="launch_map" value="$(var map)"/>
diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
index 6621c15ea3..7eb13135d3 100644
--- a/autoware_launch/launch/logging_simulator.launch.xml
+++ b/autoware_launch/launch/logging_simulator.launch.xml
@@ -5,6 +5,7 @@
   <arg name="vehicle_model" description="vehicle model name"/>
   <arg name="sensor_model" description="sensor model name"/>
   <arg name="vehicle_id" default="$(env VEHICLE_ID default)" description="vehicle specific ID"/>
+  <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
 
   <!-- Optional parameters -->
   <!-- Modules to be launched -->
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index 0a97454854..fdc86ebba7 100644
--- a/autoware_launch/launch/planning_simulator.launch.xml
+++ b/autoware_launch/launch/planning_simulator.launch.xml
@@ -4,6 +4,7 @@
   <arg name="map_path" description="point cloud and lanelet2 map directory path"/>
   <arg name="vehicle_model" description="vehicle model name"/>
   <arg name="sensor_model" description="sensor model name"/>
+  <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
 
   <!-- Optional parameters -->
   <!-- Map -->
@@ -37,6 +38,7 @@
       <arg name="map_path" value="$(var map_path)"/>
       <arg name="vehicle_model" value="$(var vehicle_model)"/>
       <arg name="sensor_model" value="$(var sensor_model)"/>
+      <arg name="data_path" value="$(var data_path)"/>
       <!-- Modules to be launched -->
       <arg name="launch_sensing" value="false"/>
       <arg name="launch_localization" value="false"/>