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feat: add radar pipeline #892

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merged 13 commits into from
Oct 7, 2023
Merged

feat: add radar pipeline #892

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65e1cc3
fix conflict
scepter914 Sep 19, 2023
c3c926a
fix(radar_tracks_msg_converter): fix twist coordinate conversion (#4993)
scepter914 Sep 19, 2023
8e0036a
fix(radar_fusion_to_detected_object): fix confidence (#4992)
scepter914 Sep 19, 2023
31d3664
feat(object_merger): add queue size parameter (#4994)
scepter914 Sep 14, 2023
f25db98
fix(simple_object_merger): fix timeout (#4990)
scepter914 Sep 14, 2023
cb6f987
fix(object_merger): fixed sync_queue_size parameter (#5058)
FranzAlbers Sep 21, 2023
641d9bb
fix(tier4_perception_launch): add parameters for light weight radar f…
scepter914 Sep 28, 2023
8d14fdf
fix conflict
scepter914 Oct 2, 2023
eec8629
fix conflict
scepter914 Oct 2, 2023
96f2324
Merge branch 'beta/v0.11.0' into feat/radar_pipeline
scepter914 Oct 2, 2023
af3d958
fix conflict
scepter914 Oct 3, 2023
7f88d81
fix conflict
scepter914 Oct 3, 2023
dd310bc
fix conflict
scepter914 Oct 5, 2023
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6 changes: 3 additions & 3 deletions ...launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,9 +1,9 @@
<?xml version="1.0"?>
<launch>
<!-- Interface param -->
<!-- Interface parameters -->
<arg name="output/objects" default="objects"/>

<!-- LiDAR param -->
<!-- LiDAR parameters -->
<arg name="input/pointcloud"/>
<arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
<arg name="container_name" default="pointcloud_container"/>
Expand All @@ -18,7 +18,7 @@
<arg name="trust_distance" default="30.0"/>
<arg name="use_roi_based_cluster" default="false"/>

<!-- Camera param -->
<!-- Camera parameters -->
<arg name="image_raw0" default="/image_raw" description="image raw topic name"/>
<arg name="camera_info0" default="/camera_info" description="camera info topic name"/>
<arg name="detection_rois0" default="/perception/object_recognition/detection/rois0" description="detection rois output topic name"/>
Expand Down
133 changes: 77 additions & 56 deletions .../launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
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Open in desktop
Original file line number Diff line number Diff line change
@@ -1,23 +1,24 @@
<?xml version="1.0"?>
<launch>
<!-- Interface param -->
<!-- Interface parameters -->
<arg name="output/objects" default="objects"/>

<!-- LiDAR param -->
<!-- LiDAR parameters -->
<arg name="input/pointcloud"/>
<arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
<arg name="container_name" default="pointcloud_container"/>

<arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
<arg name="score_threshold" default="0.35"/>
<arg name="lidar_detection_score_threshold" default="0.35"/>

<arg name="use_object_filter" default="true" description="use object filter"/>
<arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
<arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
<arg name="remove_unknown" default="true"/>
<arg name="trust_distance" default="30.0"/>
<arg name="use_roi_based_cluster" default="false"/>

<!-- Camera param -->
<!-- Camera parameters -->
<arg name="image_raw0" default="/image_raw" description="image raw topic name"/>
<arg name="camera_info0" default="/camera_info" description="camera info topic name"/>
<arg name="detection_rois0" default="/perception/object_recognition/detection/rois0" description="detection rois output topic name"/>
Expand All @@ -44,8 +45,11 @@
<arg name="detection_rois7" default="/perception/object_recognition/detection/rois7"/>
<arg name="image_number" default="1" description="choose image raw number(1-8)"/>

<!-- Radar param -->
<!-- Radar parameters -->
<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"/>
<arg name="use_near_radar_fusion" default="false"/>
<arg name="far_object_merger_sync_queue_size" default="20"/>

<!-- Jetson AGX -->
<!-- <include file="$(find-pkg-share tensorrt_yolo)/launch/yolo.launch.xml">
Expand All @@ -60,7 +64,7 @@
<arg name="image_number" value="$(var image_number)"/>
</include> -->

<!-- Radar detection-->
<!-- Radar detection -->
<group>
<push-ros-namespace namespace="radar"/>
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/radar_based_detection.launch.xml">
Expand Down Expand Up @@ -102,6 +106,48 @@
</include>
</group>

<!-- roi based clustering -->
<group>
<include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_pointcloud_fusion.launch.xml" if="$(var use_roi_based_cluster)">
<arg name="input/camera_info0" value="$(var camera_info0)"/>
<arg name="input/rois0" value="$(var detection_rois0)"/>
<arg name="input/camera_info1" value="$(var camera_info1)"/>
<arg name="input/rois1" value="$(var detection_rois1)"/>
<arg name="input/camera_info2" value="$(var camera_info2)"/>
<arg name="input/rois2" value="$(var detection_rois2)"/>
<arg name="input/camera_info3" value="$(var camera_info3)"/>
<arg name="input/rois3" value="$(var detection_rois3)"/>
<arg name="input/camera_info4" value="$(var camera_info4)"/>
<arg name="input/rois4" value="$(var detection_rois4)"/>
<arg name="input/camera_info5" value="$(var camera_info5)"/>
<arg name="input/rois5" value="$(var detection_rois5)"/>
<arg name="input/camera_info6" value="$(var camera_info6)"/>
<arg name="input/rois6" value="$(var detection_rois6)"/>
<arg name="input/camera_info7" value="$(var camera_info7)"/>
<arg name="input/rois7" value="$(var detection_rois7)"/>
<arg name="input/rois_number" value="$(var image_number)"/>
<arg name="input/image0" value="$(var image_raw0)"/>
<arg name="input/image1" value="$(var image_raw1)"/>
<arg name="input/image2" value="$(var image_raw2)"/>
<arg name="input/image3" value="$(var image_raw3)"/>
<arg name="input/image4" value="$(var image_raw4)"/>
<arg name="input/image5" value="$(var image_raw5)"/>
<arg name="input/image6" value="$(var image_raw6)"/>
<arg name="input/image7" value="$(var image_raw7)"/>
<arg name="input/pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
<arg name="output_clusters" value="roi_cluster/clusters"/>
</include>
</group>

<!-- simple_cluster_merger -->
<group>
<include file="$(find-pkg-share cluster_merger)/launch/cluster_merger.launch.xml" if="$(var use_roi_based_cluster)">
<arg name="input/cluster0" value="euclidean_cluster/clusters"/>
<arg name="input/cluster1" value="roi_cluster/clusters"/>
<arg name="output/clusters" value="clusters"/>
</include>
</group>

Comment on lines +109 to +150
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@scepter914 I think this code is duplicated? It is already existed in.

autoware.universe/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml

Lines 197 to 228 in eec8629

<!-- roi based clustering -->
<group>
<include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_pointcloud_fusion.launch.xml" if="$(var use_roi_based_cluster)">
<arg name="input/camera_info0" value="$(var camera_info0)"/>
<arg name="input/rois0" value="$(var detection_rois0)"/>
<arg name="input/camera_info1" value="$(var camera_info1)"/>
<arg name="input/rois1" value="$(var detection_rois1)"/>
<arg name="input/camera_info2" value="$(var camera_info2)"/>
<arg name="input/rois2" value="$(var detection_rois2)"/>
<arg name="input/camera_info3" value="$(var camera_info3)"/>
<arg name="input/rois3" value="$(var detection_rois3)"/>
<arg name="input/camera_info4" value="$(var camera_info4)"/>
<arg name="input/rois4" value="$(var detection_rois4)"/>
<arg name="input/camera_info5" value="$(var camera_info5)"/>
<arg name="input/rois5" value="$(var detection_rois5)"/>
<arg name="input/camera_info6" value="$(var camera_info6)"/>
<arg name="input/rois6" value="$(var detection_rois6)"/>
<arg name="input/camera_info7" value="$(var camera_info7)"/>
<arg name="input/rois7" value="$(var detection_rois7)"/>
<arg name="input/rois_number" value="$(var image_number)"/>
<arg name="input/image0" value="$(var image_raw0)"/>
<arg name="input/image1" value="$(var image_raw1)"/>
<arg name="input/image2" value="$(var image_raw2)"/>
<arg name="input/image3" value="$(var image_raw3)"/>
<arg name="input/image4" value="$(var image_raw4)"/>
<arg name="input/image5" value="$(var image_raw5)"/>
<arg name="input/image6" value="$(var image_raw6)"/>
<arg name="input/image7" value="$(var image_raw7)"/>
<arg name="input/pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
<arg name="output_clusters" value="roi_cluster/clusters"/>
</include>
</group>

I am sorry maybe it was my fault to put it after eculidean clustering.

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fixed at af3d958

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@badai-nguyen badai-nguyen Oct 3, 2023 •
edited
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@scepter914 thank you. It works now. Could you remove

autoware.universe/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml

Lines 197 to 204 in af3d958

<!-- simple_cluster_merger -->
<group>
<include file="$(find-pkg-share cluster_merger)/launch/cluster_merger.launch.xml" if="$(var use_roi_based_cluster)">
<arg name="input/cluster0" value="euclidean_cluster/clusters"/>
<arg name="input/cluster1" value="roi_cluster/clusters"/>
<arg name="output/clusters" value="clusters"/>
</include>
</group>

this is also duplicated with

autoware.universe/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml

Lines 141 to 148 in af3d958

<!-- simple_cluster_merger -->
<group>
<include file="$(find-pkg-share cluster_merger)/launch/cluster_merger.launch.xml" if="$(var use_roi_based_cluster)">
<arg name="input/cluster0" value="euclidean_cluster/clusters"/>
<arg name="input/cluster1" value="roi_cluster/clusters"/>
<arg name="output/clusters" value="clusters"/>
</include>
</group>
.

🙏

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fixed at 7f88d81

<group>
<include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
<arg name="input/objects" value="clusters"/>
Expand All @@ -113,6 +159,8 @@
<let name="input/clustering" value="/perception/object_recognition/detection/clustering/clusters"/>
<push-ros-namespace namespace="camera_lidar_fusion"/>
<!-- Fusion camera-lidar to classify -->

<!-- euclidean clustering -->
<group>
<include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_cluster_fusion.launch.xml">
<arg name="input/camera_info0" value="$(var camera_info0)"/>
Expand Down Expand Up @@ -141,60 +189,19 @@
<arg name="input/image5" value="$(var image_raw5)"/>
<arg name="input/image6" value="$(var image_raw6)"/>
<arg name="input/image7" value="$(var image_raw7)"/>
<arg name="output/clusters" value="euclidean_cluster/clusters"/>
<arg name="output/clusters" value="clusters"/>
<arg name="remove_unknown" value="$(var remove_unknown)"/>
<arg name="trust_distance" value="$(var trust_distance)"/>
</include>
</group>

<!-- roi based clustering -->
<group>
<include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_pointcloud_fusion.launch.xml" if="$(var use_roi_based_cluster)">
<arg name="input/camera_info0" value="$(var camera_info0)"/>
<arg name="input/rois0" value="$(var detection_rois0)"/>
<arg name="input/camera_info1" value="$(var camera_info1)"/>
<arg name="input/rois1" value="$(var detection_rois1)"/>
<arg name="input/camera_info2" value="$(var camera_info2)"/>
<arg name="input/rois2" value="$(var detection_rois2)"/>
<arg name="input/camera_info3" value="$(var camera_info3)"/>
<arg name="input/rois3" value="$(var detection_rois3)"/>
<arg name="input/camera_info4" value="$(var camera_info4)"/>
<arg name="input/rois4" value="$(var detection_rois4)"/>
<arg name="input/camera_info5" value="$(var camera_info5)"/>
<arg name="input/rois5" value="$(var detection_rois5)"/>
<arg name="input/camera_info6" value="$(var camera_info6)"/>
<arg name="input/rois6" value="$(var detection_rois6)"/>
<arg name="input/camera_info7" value="$(var camera_info7)"/>
<arg name="input/rois7" value="$(var detection_rois7)"/>
<arg name="input/rois_number" value="$(var image_number)"/>
<arg name="input/image0" value="$(var image_raw0)"/>
<arg name="input/image1" value="$(var image_raw1)"/>
<arg name="input/image2" value="$(var image_raw2)"/>
<arg name="input/image3" value="$(var image_raw3)"/>
<arg name="input/image4" value="$(var image_raw4)"/>
<arg name="input/image5" value="$(var image_raw5)"/>
<arg name="input/image6" value="$(var image_raw6)"/>
<arg name="input/image7" value="$(var image_raw7)"/>
<arg name="input/pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
<arg name="output_clusters" value="roi_cluster/clusters"/>
</include>
</group>

<!-- simple_cluster_merger -->
<group>
<include file="$(find-pkg-share cluster_merger)/launch/cluster_merger.launch.xml" if="$(var use_roi_based_cluster)">
<arg name="input/cluster0" value="euclidean_cluster/clusters"/>
<arg name="input/cluster1" value="roi_cluster/clusters"/>
<arg name="output/clusters" value="clusters"/>
</include>
</group>

<group>
<include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
<arg name="input/objects" value="clusters"/>
<arg name="output/objects" value="objects_with_feature"/>
</include>
</group>

<!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
<group>
<include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
Expand All @@ -218,7 +225,7 @@
<include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml">
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
<arg name="output/objects" value="objects"/>
<arg name="score_threshold" value="$(var score_threshold)"/>
<arg name="score_threshold" value="$(var lidar_detection_score_threshold)"/>
<arg name="model_name" value="$(var centerpoint_model_name)"/>
<arg name="model_path" value="$(var centerpoint_model_path)"/>
<arg name="model_param_path" value="$(var lidar_model_param_path)/$(var centerpoint_model_name).param.yaml"/>
Expand Down Expand Up @@ -290,17 +297,20 @@
</include>
</group>

<!-- Radar fusion-->
<!-- Radar fusion -->
<group>
<include file="$(find-pkg-share radar_fusion_to_detected_object)/launch/radar_object_fusion_to_detected_object.launch.xml">
<include file="$(find-pkg-share radar_fusion_to_detected_object)/launch/radar_object_fusion_to_detected_object.launch.xml" if="$(var use_near_radar_fusion)">
<arg name="input/objects" value="$(var lidar_detection_model)/objects"/>
<arg name="input/radars" value="radar/noise_filtered_objects"/>
<arg name="output/objects" value="radar_fusion/objects"/>
</include>
</group>

<!-- Camera late fusion-->
<!-- Camera late fusion -->
<group>
<let name="target_objects" value="radar_fusion/objects" if="$(var use_near_radar_fusion)"/>
<let name="target_objects" value="$(var lidar_detection_model)/objects" unless="$(var use_near_radar_fusion)"/>

<include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_detected_object_fusion.launch.xml">
<arg name="input/camera_info0" value="$(var camera_info0)"/>
<arg name="input/rois0" value="$(var detection_rois0)"/>
Expand All @@ -327,7 +337,7 @@
<arg name="input/image5" value="$(var image_raw5)"/>
<arg name="input/image6" value="$(var image_raw6)"/>
<arg name="input/image7" value="$(var image_raw7)"/>
<arg name="input/objects" value="radar_fusion/objects"/>
<arg name="input/objects" value="$(var target_objects)"/>
<arg name="output/objects" value="$(var lidar_detection_model)/roi_fusion/objects"/>
</include>
</group>
Expand Down Expand Up @@ -381,16 +391,27 @@
<group if="$(eval &quot;'$(var objects_filter_method)'=='lanelet_filter'&quot;)">
<include file="$(find-pkg-share detected_object_validation)/launch/object_lanelet_filter.launch.xml" if="$(var use_object_filter)">
<arg name="input/object" value="objects_before_filter"/>
<arg name="output/object" value="$(var output/objects)"/>
<arg name="output/object" value="near_objects"/>
<arg name="filtering_range_param" value="$(var object_recognition_detection_object_lanelet_filter_param_path)"/>
</include>
</group>

<group if="$(eval &quot;'$(var objects_filter_method)'=='position_filter'&quot;)">
<include file="$(find-pkg-share detected_object_validation)/launch/object_position_filter.launch.xml" if="$(var use_object_filter)">
<arg name="input/object" value="objects_before_filter"/>
<arg name="output/object" value="$(var output/objects)"/>
<arg name="output/object" value="near_objects"/>
<arg name="filtering_range_param" value="$(var object_recognition_detection_object_position_filter_param_path)"/>
</include>
</group>

<!-- Merge far_objects and near_objects. This merger will be removed after tracking fusion operates stably. -->
<include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
<arg name="input/object0" value="near_objects"/>
<arg name="input/object1" value="radar/far_objects"/>
<arg name="output/object" value="$(var output/objects)"/>
<arg name="priority_mode" value="0"/>
<arg name="data_association_matrix_path" value="$(var object_recognition_detection_object_merger_data_association_matrix_param_path)"/>
<arg name="distance_threshold_list_path" value="$(var object_recognition_detection_object_merger_distance_threshold_list_path)"/>
<arg name="sync_queue_size" value="$(var far_object_merger_sync_queue_size)"/>
</include>
</launch>
31 changes: 17 additions & 14 deletions launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,15 +1,16 @@
<?xml version="1.0"?>
<launch>
<!-- Interface parameters -->
<arg name="mode" default="lidar" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>

<!-- lidar param -->
<!-- LiDAR parameters -->
<arg name="input/pointcloud"/>
<arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
<arg name="use_object_filter" default="true" description="use object filter"/>
<arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
<arg name="container_name" default="pointcloud_container"/>

<!-- camera param -->
<!-- Camera parameters -->
<arg name="image_raw0" default="/image_raw" description="image raw topic name"/>
<arg name="camera_info0" default="/camera_info" description="camera info topic name"/>
<arg name="image_raw1" default=""/>
Expand All @@ -28,14 +29,15 @@
<arg name="camera_info7" default=""/>
<arg name="image_number" default="1" description="choose image raw number(1-8)"/>

<!-- camera lidar fusion param -->
<!-- Radar parameters -->
<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"/>

<!-- Camera-LiDAR fusion parameters -->
<arg name="remove_unknown" default="true"/>
<arg name="trust_distance" default="30.0"/>

<!-- radar param -->
<arg name="input/radar" default="/sensing/radar/detected_objects"/>

<!-- camera lidar radar fusion based detection-->
<!-- Camera-LiDAR-Radar fusion based detection -->
<group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_radar_fusion&quot;')">
<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)"/>
Expand Down Expand Up @@ -63,13 +65,13 @@
<arg name="container_name" value="$(var container_name)"/>
<arg name="remove_unknown" value="$(var remove_unknown)"/>
<arg name="trust_distance" value="$(var trust_distance)"/>
<arg name="input/radar" value="$(var input/radar)"/>
<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
<arg name="use_roi_based_cluster" value="$(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)"/>
</include>
</group>

<!-- camera lidar fusion based detection-->
<!-- Camera-LiDAR fusion based detection -->
<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)"/>
Expand Down Expand Up @@ -100,7 +102,7 @@
</include>
</group>

<!-- lidar radar based detection-->
<!-- LiDAR-Radar fusion based detection -->
<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)"/>
Expand All @@ -110,11 +112,11 @@
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="container_name" value="$(var container_name)"/>
<arg name="input/radar" value="$(var input/radar)"/>
<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
<arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
</include>
</group>

<!-- lidar based detection-->
<!-- LiDAR based detection -->
<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)"/>
Expand All @@ -127,11 +129,12 @@
</include>
</group>

<!-- radar based detection-->
<!-- Radar based detection -->
<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>
</launch>
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