feat(camera_lidar_fusion): enable to use camera 8,9,10 in image_projection_based_fusion nodes #1697
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Signed-off-by: yoshiri <[email protected]>
Signed-off-by: yoshiri <[email protected]>
Signed-off-by: yoshiri <[email protected]>
Signed-off-by: yoshiri <[email protected]>
Signed-off-by: yoshiri <[email protected]>
YoshiRi
requested review from
badai-nguyen,
kminoda,
ktro2828,
miursh,
tzhong518 and
yukkysaito
as code owners
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Description
@TomohitoAndo
v.4.0.1でAdd-onに刺さったカメラを試す用に必要な変更です．
camera 0--5
camera 8--10
の合計9個のカメラを最大で使用可能にする想定です．
大本のautoware_launchを変更しない限り今までと同様の同様の動作をします．
pointpaintingとsegmentationはこのversionでは使わないと思ったのでskipしました
下記が入る必要があります。
https://github.com/tier4/autoware_launch.x2/pull/882
Related links
How was this PR tested?
起動の確認をしただけで処理負荷などは見れてません．
❯ ros2 node info /perception/object_recognition/detection/clustering/camera_lidar_fusion/roi_cluster_fusion /perception/object_recognition/detection/clustering/camera_lidar_fusion/roi_cluster_fusion Subscribers: /clock: rosgraph_msgs/msg/Clock /parameter_events: rcl_interfaces/msg/ParameterEvent /perception/object_recognition/detection/clustering/clusters: tier4_perception_msgs/msg/DetectedObjectsWithFeature /perception/object_recognition/detection/rois0: tier4_perception_msgs/msg/DetectedObjectsWithFeature /perception/object_recognition/detection/rois1: tier4_perception_msgs/msg/DetectedObjectsWithFeature /perception/object_recognition/detection/rois10: tier4_perception_msgs/msg/DetectedObjectsWithFeature /perception/object_recognition/detection/rois2: tier4_perception_msgs/msg/DetectedObjectsWithFeature /perception/object_recognition/detection/rois3: tier4_perception_msgs/msg/DetectedObjectsWithFeature /perception/object_recognition/detection/rois4: tier4_perception_msgs/msg/DetectedObjectsWithFeature /perception/object_recognition/detection/rois5: tier4_perception_msgs/msg/DetectedObjectsWithFeature /perception/object_recognition/detection/rois8: tier4_perception_msgs/msg/DetectedObjectsWithFeature /perception/object_recognition/detection/rois9: tier4_perception_msgs/msg/DetectedObjectsWithFeature /sensing/camera/camera0/camera_info: sensor_msgs/msg/CameraInfo /sensing/camera/camera1/camera_info: sensor_msgs/msg/CameraInfo /sensing/camera/camera10/camera_info: sensor_msgs/msg/CameraInfo /sensing/camera/camera2/camera_info: sensor_msgs/msg/CameraInfo /sensing/camera/camera3/camera_info: sensor_msgs/msg/CameraInfo /sensing/camera/camera4/camera_info: sensor_msgs/msg/CameraInfo /sensing/camera/camera5/camera_info: sensor_msgs/msg/CameraInfo /sensing/camera/camera8/camera_info: sensor_msgs/msg/CameraInfo /sensing/camera/camera9/camera_info: sensor_msgs/msg/CameraInfoNotes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.