fix(tier4_perception_launch): update multi-channel subscribing channe…

…l name to lidar_detection_model_type (autowarefoundation#9624) * feat: update object detection channels in tracking.launch.xml The object detection channels in the `tracking.launch.xml` file have been updated to include the lidar detection model type. Signed-off-by: Taekjin LEE <[email protected]> * feat: support even the validator is not used add variable use_validator to the tracking launch and determine the subscribing channel depends on the use_validator value Signed-off-by: Taekjin LEE <[email protected]> --------- Signed-off-by: Taekjin LEE <[email protected]>
tier4 · Dec 12, 2024 · 3c94dbf · 3c94dbf
1 parent d741026
commit 3c94dbf
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Showing 2 changed files with 12 additions and 8 deletions.
diff --git a/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml
@@ -15,6 +15,7 @@
   <arg name="use_radar_tracking_fusion" default="false" description="use radar tracking fusion"/>
   <let name="use_radar_tracking_fusion" value="false" if="$(eval '&quot;$(var mode)&quot;!=&quot;camera_lidar_radar_fusion&quot;')"/>
   <arg name="use_multi_channel_tracker_merger"/>
+  <arg name="use_validator" description="use obstacle_pointcloud based validator"/>
 
   <!-- External interface -->
   <let name="input/detection_input_channels" value="['detected_objects']"/>
@@ -68,21 +69,23 @@
   <!-- Object list for multi-channel tracker merger -->
   <group if="$(var use_multi_channel_tracker_merger)">
     <let name="detection_enabled_channels" value="$(var input/detection_input_channels)"/>
+    <let name="lidar_dnn_detection_output" value="$(var lidar_detection_model_type)_validated" if="$(var use_validator)"/>
+    <let name="lidar_dnn_detection_output" value="$(var lidar_detection_model_type)" unless="$(var use_validator)"/>
     <group scoped="false" if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_radar_fusion&quot;')">
-      <let name="detection_enabled_channels" value="['lidar_$(var lidar_detection_model)_validated','camera_lidar_fusion','detection_by_tracker','radar_far']" if="$(var use_detection_by_tracker)"/>
-      <let name="detection_enabled_channels" value="['lidar_$(var lidar_detection_model)_validated','camera_lidar_fusion','radar_far']" unless="$(var use_detection_by_tracker)"/>
+      <let name="detection_enabled_channels" value="['lidar_$(var lidar_dnn_detection_output)','camera_lidar_fusion','detection_by_tracker','radar_far']" if="$(var use_detection_by_tracker)"/>
+      <let name="detection_enabled_channels" value="['lidar_$(var lidar_dnn_detection_output)','camera_lidar_fusion','radar_far']" unless="$(var use_detection_by_tracker)"/>
     </group>
     <group scoped="false" if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_fusion&quot;')">
-      <let name="detection_enabled_channels" value="['lidar_$(var lidar_detection_model)_validated','camera_lidar_fusion','detection_by_tracker']" if="$(var use_detection_by_tracker)"/>
-      <let name="detection_enabled_channels" value="['lidar_$(var lidar_detection_model)_validated','camera_lidar_fusion']" unless="$(var use_detection_by_tracker)"/>
+      <let name="detection_enabled_channels" value="['lidar_$(var lidar_dnn_detection_output)','camera_lidar_fusion','detection_by_tracker']" if="$(var use_detection_by_tracker)"/>
+      <let name="detection_enabled_channels" value="['lidar_$(var lidar_dnn_detection_output)','camera_lidar_fusion']" unless="$(var use_detection_by_tracker)"/>
     </group>
     <group scoped="false" if="$(eval '&quot;$(var mode)&quot;==&quot;lidar_radar_fusion&quot;')">
-      <let name="detection_enabled_channels" value="['lidar_$(var lidar_detection_model)_validated','detection_by_tracker','radar_far']" if="$(var use_detection_by_tracker)"/>
-      <let name="detection_enabled_channels" value="['lidar_$(var lidar_detection_model)_validated','radar_far']" unless="$(var use_detection_by_tracker)"/>
+      <let name="detection_enabled_channels" value="['lidar_$(var lidar_dnn_detection_output)','detection_by_tracker','radar_far']" if="$(var use_detection_by_tracker)"/>
+      <let name="detection_enabled_channels" value="['lidar_$(var lidar_dnn_detection_output)','radar_far']" unless="$(var use_detection_by_tracker)"/>
     </group>
     <group scoped="false" if="$(eval '&quot;$(var mode)&quot;==&quot;lidar&quot;')">
-      <let name="detection_enabled_channels" value="['lidar_$(var lidar_detection_model)_validated','detection_by_tracker']" if="$(var use_detection_by_tracker)"/>
-      <let name="detection_enabled_channels" value="['lidar_$(var lidar_detection_model)_validated']" unless="$(var use_detection_by_tracker)"/>
+      <let name="detection_enabled_channels" value="['lidar_$(var lidar_dnn_detection_output)','detection_by_tracker']" if="$(var use_detection_by_tracker)"/>
+      <let name="detection_enabled_channels" value="['lidar_$(var lidar_dnn_detection_output)']" unless="$(var use_detection_by_tracker)"/>
     </group>
     <group scoped="false" if="$(eval '&quot;$(var mode)&quot;==&quot;radar&quot;')">
       <let name="detection_enabled_channels" value="['radar_far']"/>

diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -272,6 +272,7 @@
           <arg name="use_multi_channel_tracker_merger" value="$(var use_multi_channel_tracker_merger)"/>
           <arg name="use_radar_tracking_fusion" value="$(var use_radar_tracking_fusion)"/>
           <arg name="use_detection_by_tracker" value="$(var use_detection_by_tracker)"/>
+          <arg name="use_validator" value="$(var use_object_validator)"/>
         </include>
       </group>