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feat(tier4_simulator_launch, dummy_perception_publisher): launch perc…
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…eption modules from simulator.launch.xml (#465)

* feat(tier4_simulator_launch, dummy_perception_publisher): launch perception modules from simualtor.launch.xml

Signed-off-by: Takayuki Murooka <[email protected]>

* remove perception launching dummy_perception_publisher.launch.xml

Signed-off-by: Takayuki Murooka <[email protected]>

* remove unnecessary comment

Signed-off-by: Takayuki Murooka <[email protected]>
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takayuki5168 authored Mar 2, 2022
1 parent 4bff484 commit e5ae6ae
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Showing 2 changed files with 43 additions and 39 deletions.
43 changes: 42 additions & 1 deletion launch/tier4_simulator_launch/launch/simulator.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,8 @@
<arg name="vehicle_info_param_file" />

<arg name="perception/enable_detection_failure" default="true" description="enable to simulate detection failure when using dummy perception"/>
<arg name="perception/enable_object_recognition" default="false" description="enable object recognition when using dummy perception"/>
<arg name="perception/enable_object_recognition" default="false" description="enable object recognition"/>
<arg name="perception/enable_traffic_light" default="false" description="enable traffic light"/>
<arg name="sensing/visible_range" default="300.0" description="visible range when using dummy perception"/>

<arg name="vehicle_model" description="vehicle model name"/>
Expand All @@ -25,6 +26,46 @@
</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">
</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>

<!-- object segmentation module -->
<group>
<push-ros-namespace namespace="occupancy_grid_map"/>
<!-- Occupancy Grid -->
<include file="$(find-pkg-share laserscan_to_occupancy_grid_map)/launch/laserscan_to_occupancy_grid_map.launch.py">
<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" />
</include>
</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"></include>
</group>
</group>

<!-- Simulator model -->
<group if="$(var launch_dummy_vehicle)">
<arg name="simulator_model" default="$(var vehicle_model_pkg)/config/simulator_model.param.yaml" description="path to the file of simulator model"/>
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39 changes: 1 addition & 38 deletions simulator/dummy_perception_publisher/launch/dummy_perception_publisher.launch.xml
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Expand Up @@ -5,7 +5,6 @@
<arg name="visible_range" default="300.0" />
<arg name="real" default="true" />
<arg name="use_object_recognition" default="true" />
<arg name="use_traffic_light_recognition" default="false" />

<group>
<push-ros-namespace namespace="simulation"/>
Expand Down Expand Up @@ -51,48 +50,12 @@
<!-- perception module -->
<group>
<push-ros-namespace namespace="perception"/>
<!-- object segmentation module -->
<group>
<push-ros-namespace namespace="occupancy_grid_map"/>
<!-- Occupancy Grid -->
<include file="$(find-pkg-share tier4_perception_launch)/launch/occupancy_grid_map/occupancy_grid_map.launch.py">
<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" />
</include>
</group>

<!-- object recognition module -->
<group if="$(var use_object_recognition)">
<push-ros-namespace namespace="object_recognition"/>
<!-- detection module -->
<!-- tracking module -->
<group>
<push-ros-namespace namespace="tracking"/>
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/tracking/tracking.launch.xml">
</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 use_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="$(var use_traffic_light_recognition)">
<push-ros-namespace namespace="traffic_light_recognition"/>
<include file="$(find-pkg-share tier4_perception_launch)/launch/traffic_light_recognition/traffic_light.launch.xml"></include>
</group>
</group>
</launch>

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