feat: comment out unused launch

tier4 · Nov 30, 2023 · de6a994 · de6a994
1 parent 04d8aa8
commit de6a994
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Showing 3 changed files with 52 additions and 19 deletions.
diff --git a/launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml b/launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml
@@ -26,7 +26,7 @@
   </group>
 
   <!-- YabLoc Launch (as pose estimator) -->
-  <group if="$(eval &quot;'$(var pose_source)'=='yabloc'&quot;)">
+  <!-- <group if="$(eval &quot;'$(var pose_source)'=='yabloc'&quot;)">
     <group>
       <push-ros-namespace namespace="pose_estimator"/>
       <include file="$(find-pkg-share tier4_localization_launch)/launch/pose_twist_estimator/yabloc.launch.xml"/>
@@ -44,7 +44,7 @@
       </include>
       <include file="$(find-pkg-share automatic_pose_initializer)/launch/automatic_pose_initializer.launch.xml"/>
     </group>
-  </group>
+  </group> -->
 
   <!-- Gyro Odometer Launch (as pose estimator) -->
   <group if="$(eval &quot;'$(var twist_source)'=='gyro_odom'&quot;)">
@@ -53,7 +53,7 @@
   </group>
 
   <!-- Eagleye Launch (as pose & twist estimator) -->
-  <group if="$(eval &quot;'$(var pose_source)'=='eagleye' and '$(var twist_source)'=='eagleye'&quot;)">
+  <!-- <group if="$(eval &quot;'$(var pose_source)'=='eagleye' and '$(var twist_source)'=='eagleye'&quot;)">
     <group>
       <push-ros-namespace namespace="pose_twist_estimator"/>
       <include file="$(find-pkg-share tier4_localization_launch)/launch/pose_twist_estimator/eagleye/eagleye_rt.launch.xml">
@@ -76,10 +76,10 @@
       </include>
       <include file="$(find-pkg-share automatic_pose_initializer)/launch/automatic_pose_initializer.launch.xml"/>
     </group>
-  </group>
+  </group> -->
 
   <!-- Eagleye Launch (as pose estimator) -->
-  <group if="$(eval &quot;'$(var pose_source)'=='eagleye' and '$(var twist_source)'!='eagleye'&quot;)">
+  <!-- <group if="$(eval &quot;'$(var pose_source)'=='eagleye' and '$(var twist_source)'!='eagleye'&quot;)">
     <group>
       <push-ros-namespace namespace="pose_estimator"/>
       <include file="$(find-pkg-share tier4_localization_launch)/launch/pose_twist_estimator/eagleye/eagleye_rt.launch.xml">
@@ -101,20 +101,20 @@
       </include>
       <include file="$(find-pkg-share automatic_pose_initializer)/launch/automatic_pose_initializer.launch.xml"/>
     </group>
-  </group>
+  </group> -->
 
   <!-- Eagleye Launch (as twist estimator) -->
-  <group if="$(eval &quot;'$(var pose_source)'!='eagleye' and '$(var twist_source)'=='eagleye'&quot;)">
+  <!-- <group if="$(eval &quot;'$(var pose_source)'!='eagleye' and '$(var twist_source)'=='eagleye'&quot;)">
     <push-ros-namespace namespace="twist_estimator"/>
     <include file="$(find-pkg-share tier4_localization_launch)/launch/pose_twist_estimator/eagleye/eagleye_rt.launch.xml">
       <arg name="output_twist_with_cov_name" value="/localization/twist_estimator/twist_with_covariance"/>
       <arg name="use_eagleye_pose" value="false"/>
       <arg name="use_eagleye_twist" value="true"/>
     </include>
-  </group>
+  </group> -->
 
   <!-- AR Tag Based Localizer (as pose estimator) -->
-  <group if="$(eval &quot;'$(var pose_source)'=='artag'&quot;)">
+  <!-- <group if="$(eval &quot;'$(var pose_source)'=='artag'&quot;)">
     <group>
       <push-ros-namespace namespace="pose_estimator"/>
       <include file="$(find-pkg-share tier4_localization_launch)/launch/pose_twist_estimator/ar_tag_based_localizer.launch.xml"/>
@@ -134,5 +134,5 @@
       <include file="$(find-pkg-share automatic_pose_initializer)/launch/automatic_pose_initializer.launch.xml"/>
       <include file="$(find-pkg-share tier4_localization_launch)/launch/util/util.launch.py"/>
     </group>
-  </group>
+  </group> -->
 </launch>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
@@ -73,7 +73,7 @@
   </group>
 
   <!-- Camera-LiDAR fusion based detection -->
-  <group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_fusion&quot;')">
+  <!-- <group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_fusion&quot;')">
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml">
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="image_raw0" value="$(var image_raw0)"/>
@@ -102,10 +102,10 @@
       <arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
       <arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
     </include>
-  </group>
+  </group> -->
 
   <!-- LiDAR-Radar fusion based detection -->
-  <group if="$(eval '&quot;$(var mode)&quot;==&quot;lidar_radar_fusion&quot;')">
+  <!-- <group if="$(eval '&quot;$(var mode)&quot;==&quot;lidar_radar_fusion&quot;')">
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml">
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
@@ -116,10 +116,10 @@
       <arg name="input/radar" value="$(var input/radar)"/>
       <arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
     </include>
-  </group>
+  </group> -->
 
   <!-- LiDAR based detection -->
-  <group if="$(eval '&quot;$(var mode)&quot;==&quot;lidar&quot;')">
+  <!-- <group if="$(eval '&quot;$(var mode)&quot;==&quot;lidar&quot;')">
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/lidar_based_detection.launch.xml">
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
@@ -130,14 +130,14 @@
       <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       <arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
     </include>
-  </group>
+  </group> -->
 
   <!-- Radar based detection -->
-  <group if="$(eval '&quot;$(var mode)&quot;==&quot;radar&quot;')">
+  <!-- <group if="$(eval '&quot;$(var mode)&quot;==&quot;radar&quot;')">
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/radar_based_detection.launch.xml">
       <arg name="input/radar" value="$(var input/radar)"/>
       <arg name="output/objects" value="objects"/>
       <arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
     </include>
-  </group>
+  </group> -->
 </launch>
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -138,7 +138,7 @@
       <!-- Detection module -->
       <group>
         <push-ros-namespace namespace="detection"/>
-        <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detection.launch.xml">
+        <!-- <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detection.launch.xml">
           <arg name="mode" value="$(var mode)"/>
           <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
           <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
@@ -174,6 +174,39 @@
           <arg name="remove_unknown" value="$(var remove_unknown)"/>
           <arg name="trust_distance" value="$(var trust_distance)"/>
           <arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
+        </include> -->
+        <arg name="input/radar" default="/sensing/radar/detected_objects"/>
+        <arg name="radar_lanelet_filtering_range_param" default="$(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml"/>
+        <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml">
+          <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
+          <arg name="image_raw0" value="$(var image_raw0)"/>
+          <arg name="camera_info0" value="$(var camera_info0)"/>
+          <arg name="image_raw1" value="$(var image_raw1)"/>
+          <arg name="camera_info1" value="$(var camera_info1)"/>
+          <arg name="image_raw2" value="$(var image_raw2)"/>
+          <arg name="camera_info2" value="$(var camera_info2)"/>
+          <arg name="image_raw3" value="$(var image_raw3)"/>
+          <arg name="camera_info3" value="$(var camera_info3)"/>
+          <arg name="image_raw4" value="$(var image_raw4)"/>
+          <arg name="camera_info4" value="$(var camera_info4)"/>
+          <arg name="image_raw5" value="$(var image_raw5)"/>
+          <arg name="camera_info5" value="$(var camera_info5)"/>
+          <arg name="image_raw6" value="$(var image_raw6)"/>
+          <arg name="camera_info6" value="$(var camera_info6)"/>
+          <arg name="image_raw7" value="$(var image_raw7)"/>
+          <arg name="camera_info7" value="$(var camera_info7)"/>
+          <arg name="image_number" value="$(var image_number)"/>
+          <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
+          <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
+          <arg name="use_object_filter" value="$(var use_object_filter)"/>
+          <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+          <arg name="container_name" value="$(var container_name)"/>
+          <arg name="remove_unknown" value="$(var remove_unknown)"/>
+          <arg name="trust_distance" value="$(var trust_distance)"/>
+          <arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
+          <arg name="input/radar" value="$(var input/radar)"/>
+          <arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
+          <arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
         </include>
       </group>