diff --git a/launch/tier4_localization_launch/launch/localization.launch.xml b/launch/tier4_localization_launch/launch/localization.launch.xml
index 3fba4bd773e68..f4d6679291849 100644
--- a/launch/tier4_localization_launch/launch/localization.launch.xml
+++ b/launch/tier4_localization_launch/launch/localization.launch.xml
@@ -15,14 +15,15 @@
-
-
+
-
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+
+
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
index 7733b4e3117a1..02c6da20e17da 100644
--- 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
@@ -23,7 +23,9 @@
-
+
+
+
@@ -142,7 +144,9 @@
-
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+
diff --git a/launch/tier4_localization_launch/launch/util/util.launch.py b/launch/tier4_localization_launch/launch/util/util.launch.py
index 1a34429f438ed..22a45fe7b8530 100644
--- a/launch/tier4_localization_launch/launch/util/util.launch.py
+++ b/launch/tier4_localization_launch/launch/util/util.launch.py
@@ -15,8 +15,6 @@
import launch
from launch.actions import DeclareLaunchArgument
from launch.actions import OpaqueFunction
-from launch.conditions import LaunchConfigurationNotEquals
-from launch.conditions import UnlessCondition
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import LoadComposableNodes
from launch_ros.descriptions import ComposableNode
@@ -71,16 +69,9 @@ def load_composable_node_param(param_path):
random_downsample_component,
]
- target_container = (
- "/sensing/lidar/top/pointcloud_preprocessor/pointcloud_container"
- if UnlessCondition(LaunchConfiguration("use_pointcloud_container")).evaluate(context)
- else LaunchConfiguration("pointcloud_container_name")
- )
-
load_composable_nodes = LoadComposableNodes(
- condition=LaunchConfigurationNotEquals(target_container, ""),
composable_node_descriptions=composable_nodes,
- target_container=target_container,
+ target_container=LaunchConfiguration("lidar_container_name"),
)
return [load_composable_nodes]
@@ -115,11 +106,10 @@ def add_launch_arg(name: str, default_value=None, description=None):
"path to the parameter file of random_downsample_filter",
)
add_launch_arg("use_intra_process", "true", "use ROS 2 component container communication")
- add_launch_arg("use_pointcloud_container", "True", "use pointcloud container")
add_launch_arg(
- "pointcloud_container_name",
- "/pointcloud_container",
- "container name",
+ "lidar_container_name",
+ "/sensing/lidar/top/pointcloud_preprocessor/pointcloud_container",
+ "container name of main lidar used for localization",
)
add_launch_arg(
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
deleted file mode 100644
index 4838187ef8fbe..0000000000000
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
+++ /dev/null
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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
index 68d5ea944e6cb..ab9ed65999048 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
@@ -3,12 +3,12 @@
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@@ -34,9 +34,10 @@
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@@ -57,23 +58,61 @@
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@@ -94,47 +133,107 @@
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diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
similarity index 56%
rename from launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
rename to launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
index d269144067e0e..2232feb6d7c67 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
@@ -1,17 +1,13 @@
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@@ -54,6 +50,47 @@
-->
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@@ -62,7 +99,7 @@
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@@ -192,190 +229,4 @@
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diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
new file mode 100644
index 0000000000000..5b5fabd4dd886
--- /dev/null
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
@@ -0,0 +1,59 @@
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diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
new file mode 100644
index 0000000000000..cec0c3bc05aac
--- /dev/null
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
@@ -0,0 +1,58 @@
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diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/radar_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/radar_detector.launch.xml
similarity index 100%
rename from launch/tier4_perception_launch/launch/object_recognition/detection/radar_based_detection.launch.xml
rename to launch/tier4_perception_launch/launch/object_recognition/detection/detector/radar_detector.launch.xml
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
deleted file mode 100644
index ed37f6270c913..0000000000000
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
+++ /dev/null
@@ -1,51 +0,0 @@
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diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml
new file mode 100644
index 0000000000000..2f62e83ae0ef5
--- /dev/null
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml
@@ -0,0 +1,124 @@
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diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml
new file mode 100644
index 0000000000000..b4d19c9052a63
--- /dev/null
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml
@@ -0,0 +1,154 @@
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diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/lidar_merger.launch.xml
similarity index 51%
rename from launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
rename to launch/tier4_perception_launch/launch/object_recognition/detection/merger/lidar_merger.launch.xml
index 2c8b7d6581c53..6ccff44933966 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/lidar_merger.launch.xml
@@ -1,113 +1,19 @@
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@@ -133,9 +39,9 @@
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diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py b/launch/tier4_perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py
index 93d395ca3e466..1dcb9cfc90daf 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py
@@ -141,7 +141,7 @@ def launch_setup(context, *args, **kwargs):
components = []
components.extend(pipeline.create_pipeline())
individual_container = ComposableNodeContainer(
- name=LaunchConfiguration("container_name"),
+ name=LaunchConfiguration("individual_container_name"),
namespace="",
package="rclcpp_components",
executable=LaunchConfiguration("container_executable"),
@@ -151,7 +151,7 @@ def launch_setup(context, *args, **kwargs):
)
pointcloud_container_loader = LoadComposableNodes(
composable_node_descriptions=components,
- target_container=LaunchConfiguration("container_name"),
+ target_container=LaunchConfiguration("pointcloud_container_name"),
condition=IfCondition(LaunchConfiguration("use_pointcloud_container")),
)
return [individual_container, pointcloud_container_loader]
@@ -168,7 +168,8 @@ def add_launch_arg(name: str, default_value=None):
add_launch_arg("use_multithread", "False")
add_launch_arg("use_intra_process", "True")
add_launch_arg("use_pointcloud_container", "False")
- add_launch_arg("container_name", "pointcloud_map_filter_pipeline_container")
+ add_launch_arg("pointcloud_container_name", "pointcloud_container")
+ add_launch_arg("individual_container_name", "pointcloud_map_filter_container")
add_launch_arg("use_pointcloud_map", "true")
set_container_executable = SetLaunchConfiguration(
"container_executable",
diff --git a/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py b/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py
index fecdd29bcb7e9..66a0bb4d0fb63 100644
--- a/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py
+++ b/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py
@@ -474,13 +474,7 @@ def get_single_frame_obstacle_segmentation_concatenated_component(input_topics,
def launch_setup(context, *args, **kwargs):
pipeline = GroundSegmentationPipeline(context)
- glog_component = ComposableNode(
- package="glog_component",
- plugin="GlogComponent",
- name="glog_component",
- )
-
- components = [glog_component]
+ components = []
components.extend(
pipeline.create_single_frame_obstacle_segmentation_components(
input_topic=LaunchConfiguration("input/pointcloud"),
@@ -511,7 +505,7 @@ def launch_setup(context, *args, **kwargs):
)
)
individual_container = ComposableNodeContainer(
- name=LaunchConfiguration("container_name"),
+ name=LaunchConfiguration("individual_container_name"),
namespace="",
package="rclcpp_components",
executable=LaunchConfiguration("container_executable"),
@@ -521,7 +515,7 @@ def launch_setup(context, *args, **kwargs):
)
pointcloud_container_loader = LoadComposableNodes(
composable_node_descriptions=components,
- target_container=LaunchConfiguration("container_name"),
+ target_container=LaunchConfiguration("pointcloud_container_name"),
condition=IfCondition(LaunchConfiguration("use_pointcloud_container")),
)
return [individual_container, pointcloud_container_loader]
@@ -537,7 +531,8 @@ def add_launch_arg(name: str, default_value=None):
add_launch_arg("use_multithread", "False")
add_launch_arg("use_intra_process", "True")
add_launch_arg("use_pointcloud_container", "False")
- add_launch_arg("container_name", "perception_pipeline_container")
+ add_launch_arg("pointcloud_container_name", "pointcloud_container")
+ add_launch_arg("individual_container_name", "ground_segmentation_container")
add_launch_arg("input/pointcloud", "/sensing/lidar/concatenated/pointcloud")
set_container_executable = SetLaunchConfiguration(
diff --git a/launch/tier4_perception_launch/launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml b/launch/tier4_perception_launch/launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml
index 281a52a85af71..244e0940acb70 100644
--- a/launch/tier4_perception_launch/launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml
+++ b/launch/tier4_perception_launch/launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml
@@ -7,7 +7,7 @@
-
+
@@ -24,7 +24,7 @@
-
+
@@ -40,7 +40,7 @@
-
+
@@ -56,7 +56,7 @@
-
+
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index 4e9f0daafa736..528038c5158b2 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -127,7 +127,7 @@
-
+
@@ -142,7 +142,7 @@
-
+
@@ -193,7 +193,7 @@
-
+
diff --git a/perception/euclidean_cluster/launch/euclidean_cluster.launch.py b/perception/euclidean_cluster/launch/euclidean_cluster.launch.py
index 66c25396a656e..b8d4f61a9cf28 100644
--- a/perception/euclidean_cluster/launch/euclidean_cluster.launch.py
+++ b/perception/euclidean_cluster/launch/euclidean_cluster.launch.py
@@ -76,6 +76,13 @@ def load_composable_node_param(param_path):
executable="component_container",
composable_node_descriptions=[],
output="screen",
+ condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
+ )
+
+ target_container = (
+ LaunchConfiguration("pointcloud_container_name")
+ if IfCondition(LaunchConfiguration("use_pointcloud_container")).evaluate(context)
+ else container
)
use_low_height_pointcloud_loader = LoadComposableNodes(
@@ -83,13 +90,13 @@ def load_composable_node_param(param_path):
low_height_cropbox_filter_component,
use_low_height_euclidean_component,
],
- target_container=container,
+ target_container=target_container,
condition=IfCondition(LaunchConfiguration("use_low_height_cropbox")),
)
disuse_low_height_pointcloud_loader = LoadComposableNodes(
composable_node_descriptions=[disuse_low_height_euclidean_component],
- target_container=container,
+ target_container=target_container,
condition=UnlessCondition(LaunchConfiguration("use_low_height_cropbox")),
)
@@ -106,6 +113,8 @@ def add_launch_arg(name: str, default_value=None):
add_launch_arg("input_map", "/map/pointcloud_map"),
add_launch_arg("output_clusters", "clusters"),
add_launch_arg("use_low_height_cropbox", "false"),
+ add_launch_arg("use_pointcloud_container", "false"),
+ add_launch_arg("pointcloud_container_name", "pointcloud_container"),
add_launch_arg(
"euclidean_param_path",
[
diff --git a/perception/euclidean_cluster/launch/euclidean_cluster.launch.xml b/perception/euclidean_cluster/launch/euclidean_cluster.launch.xml
index fd1ea82befae0..f4deeccf7b76c 100644
--- a/perception/euclidean_cluster/launch/euclidean_cluster.launch.xml
+++ b/perception/euclidean_cluster/launch/euclidean_cluster.launch.xml
@@ -5,6 +5,8 @@
+
+
@@ -12,5 +14,8 @@
+
+
+
diff --git a/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py b/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py
index 00bcd4422bd3c..607e1bf30ccaa 100644
--- a/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py
+++ b/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py
@@ -77,6 +77,13 @@ def load_composable_node_param(param_path):
executable="component_container",
composable_node_descriptions=[],
output="screen",
+ condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
+ )
+
+ target_container = (
+ LaunchConfiguration("pointcloud_container_name")
+ if IfCondition(LaunchConfiguration("use_pointcloud_container")).evaluate(context)
+ else container
)
use_low_height_pointcloud_loader = LoadComposableNodes(
@@ -84,13 +91,13 @@ def load_composable_node_param(param_path):
low_height_cropbox_filter_component,
use_low_height_euclidean_component,
],
- target_container=container,
+ target_container=target_container,
condition=IfCondition(LaunchConfiguration("use_low_height_cropbox")),
)
disuse_low_height_pointcloud_loader = LoadComposableNodes(
composable_node_descriptions=[disuse_low_height_euclidean_component],
- target_container=container,
+ target_container=target_container,
condition=UnlessCondition(LaunchConfiguration("use_low_height_cropbox")),
)
return [
@@ -110,6 +117,8 @@ def add_launch_arg(name: str, default_value=None):
add_launch_arg("input_map", "/map/pointcloud_map"),
add_launch_arg("output_clusters", "clusters"),
add_launch_arg("use_low_height_cropbox", "false"),
+ add_launch_arg("use_pointcloud_container", "false"),
+ add_launch_arg("pointcloud_container_name", "pointcloud_container"),
add_launch_arg(
"voxel_grid_based_euclidean_param_path",
[
diff --git a/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.xml b/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.xml
index b6a426dabfd12..3a7c685d8f449 100644
--- a/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.xml
+++ b/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.xml
@@ -5,6 +5,8 @@
+
+
@@ -12,5 +14,8 @@
+
+
+
diff --git a/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml b/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml
index 33781461fa1cc..db13d73e37fa7 100644
--- a/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml
+++ b/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml
@@ -26,6 +26,9 @@
+
+
+
@@ -38,7 +41,53 @@
-
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/perception/lidar_centerpoint/config/detection_class_remapper.param.yaml b/perception/lidar_centerpoint/config/detection_class_remapper.param.yaml
index ed378ffa44a70..baea087c96bca 100644
--- a/perception/lidar_centerpoint/config/detection_class_remapper.param.yaml
+++ b/perception/lidar_centerpoint/config/detection_class_remapper.param.yaml
@@ -29,9 +29,9 @@
max_area_matrix:
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
[ 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #UNKNOWN
- 0.000, 0.000, 36.000, 0.000, inf, 0.000, 0.000, 0.000, #CAR
- 0.000, 0.000, 0.000, 0.000, inf, 0.000, 0.000, 0.000, #TRUCK
- 0.000, 0.000, 0.000, 0.000, inf, 0.000, 0.000, 0.000, #BUS
+ 0.000, 0.000, 36.000, 0.000, 999.999, 0.000, 0.000, 0.000, #CAR
+ 0.000, 0.000, 0.000, 0.000, 999.999, 0.000, 0.000, 0.000, #TRUCK
+ 0.000, 0.000, 0.000, 0.000, 999.999, 0.000, 0.000, 0.000, #BUS
0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #TRAILER
0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #MOTORBIKE
0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #BICYCLE
diff --git a/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml b/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml
index a7f181ab78ac6..1210875770510 100644
--- a/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml
+++ b/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml
@@ -11,20 +11,45 @@
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py b/perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py
index b99335b0e09ef..62cfa4bcb5228 100644
--- a/perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py
+++ b/perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py
@@ -115,7 +115,7 @@ def launch_setup(context, *args, **kwargs):
]
occupancy_grid_map_container = ComposableNodeContainer(
- name=LaunchConfiguration("container_name"),
+ name=LaunchConfiguration("individual_container_name"),
namespace="",
package="rclcpp_components",
executable=LaunchConfiguration("container_executable"),
@@ -126,7 +126,7 @@ def launch_setup(context, *args, **kwargs):
load_composable_nodes = LoadComposableNodes(
composable_node_descriptions=composable_nodes,
- target_container=LaunchConfiguration("container_name"),
+ target_container=LaunchConfiguration("pointcloud_container_name"),
condition=IfCondition(LaunchConfiguration("use_pointcloud_container")),
)
@@ -174,7 +174,8 @@ def add_launch_arg(name: str, default_value=None):
add_launch_arg("input_obstacle_pointcloud", "false"),
add_launch_arg("input_obstacle_and_raw_pointcloud", "true"),
add_launch_arg("use_pointcloud_container", "false"),
- add_launch_arg("container_name", "occupancy_grid_map_container"),
+ add_launch_arg("pointcloud_container_name", "pointcloud_container"),
+ add_launch_arg("individual_container_name", "occupancy_grid_map_container"),
set_container_executable,
set_container_mt_executable,
]
diff --git a/perception/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py b/perception/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py
index 49bf228905dcc..29435c4ea8e24 100644
--- a/perception/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py
+++ b/perception/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py
@@ -64,7 +64,7 @@ def launch_setup(context, *args, **kwargs):
]
occupancy_grid_map_container = ComposableNodeContainer(
- name=LaunchConfiguration("container_name"),
+ name=LaunchConfiguration("individual_container_name"),
namespace="",
package="rclcpp_components",
executable=LaunchConfiguration("container_executable"),
@@ -75,7 +75,7 @@ def launch_setup(context, *args, **kwargs):
load_composable_nodes = LoadComposableNodes(
composable_node_descriptions=composable_nodes,
- target_container=LaunchConfiguration("container_name"),
+ target_container=LaunchConfiguration("pointcloud_container_name"),
condition=IfCondition(LaunchConfiguration("use_pointcloud_container")),
)
@@ -103,7 +103,8 @@ def add_launch_arg(name: str, default_value=None):
add_launch_arg("use_multithread", "false"),
add_launch_arg("use_intra_process", "true"),
add_launch_arg("use_pointcloud_container", "false"),
- add_launch_arg("container_name", "occupancy_grid_map_container"),
+ add_launch_arg("pointcloud_container_name", "pointcloud_container"),
+ add_launch_arg("individual_container_name", "occupancy_grid_map_container"),
add_launch_arg("input/obstacle_pointcloud", "no_ground/oneshot/pointcloud"),
add_launch_arg("input/raw_pointcloud", "concatenated/pointcloud"),
add_launch_arg("output", "occupancy_grid"),
diff --git a/perception/probabilistic_occupancy_grid_map/synchronized_grid_map_fusion.md b/perception/probabilistic_occupancy_grid_map/synchronized_grid_map_fusion.md
index e1046fa24719d..6f4d4e22aa26e 100644
--- a/perception/probabilistic_occupancy_grid_map/synchronized_grid_map_fusion.md
+++ b/perception/probabilistic_occupancy_grid_map/synchronized_grid_map_fusion.md
@@ -105,7 +105,7 @@ You need to generate OGMs in each sensor frame before achieving grid map fusion.
-
+
@@ -146,7 +146,7 @@ You can include this launch file like the following.
-
+